Linear Servo System - Mitsubishi Electricen… · BNP-B3977A (ENG) MDS-B Series Linear Servo System Specifications and Instruction Manual

BNP-B3977A (ENG)

MDS-B Series

Linear Servo System

Specifications and Instruction Manual

I

Introduction Thank you for purchasing the Mitsubishi linear servo system. This instruction manual describes the handling and caution points for using this CNC. Incorrect handling may lead to unforeseen accidents, so always read this instruction manual thoroughly to ensure correct usage. Make sure that this instruction manual is delivered to the end user.

Precautions for safety Please read this instruction manual and auxiliary documents before starting installation, operation, maintenance or inspection to ensure correct usage. Thoroughly understand the device, safety information and precautions before starting operation. The safety precautions in this instruction manual are ranked as "DANGER" and "CAUTION".

DANGER When a dangerous situation may occur if handling is mistaken leading to fatal or major injuries.

CAUTION When a dangerous situation may occur if handling is mistaken

leading to medium or minor injuries, or physical damage.

Note that some items described as CAUTION may lead to major results depending on the situation. In any case, important information that must be observed is described. The signs indicating prohibited and mandatory items are described below.

This sign indicates that the item is prohibited (must not be carried out). For example, is used to indicate "Fire Prohibited".

This sign indicates that the item is mandatory (must be carried out). For example, is used to indicate grounding.

After reading this instruction manual, keep it in a safe place for future reference.

In this instruction manual, the cautions on a level that will not lead to physical damage and the cautions for special functions, etc., are ranked as "NOTICE", "INFORMATION" and "MEMO".

NOTICE : When a fault in the product will occur but physical damage will not occur if handling is mistaken. INFORMATION : When special functions will be started with parameter changes, or when there are other usage methods. MEMO : Information that should be known for operation.

II

For Safe Use

1. Special precautions for linear servo system

DANGER

The linear servo system uses a powerful magnet on the secondary side. Thus, caution must be taken not only by the person installing the linear motor, but also the machine operators. For example, persons wearing a pacemaker, etc., must not approach the machine. The person installing the linear motor and the machine operator must not have any items (watch or calculator, etc.) which could malfunction or break due to the magnetic force on their body. Always use nonmagnetic tools for installing the linear motor or during work in the vicinity of the linear motor. (Example of nonmagnetic tool) Explosion-proof beryllium copper alloy safety tool: Nihon Gaishi

2. Electric shock prevention

DANGER

Do not open the front cover while the power is ON or during operation. Failure to observe this could lead to electric shocks. Do not operate the machine with the front cover removed. The high voltage terminals and charged sections will be exposed, and may pose a risk of electric shocks. Do not remove the surface cover even when the power is OFF unless carrying out wiring work or periodic inspections. The inside of the servo amplifier is charged, and may pose a risk of electric shocks. Wait at least 10 minutes after turning the power OFF, before starting wiring or inspections. Failure to observe this could lead to electric shocks. Ground the servo amplifier and linear servomotor with Class 3 grounding or higher. Wiring and inspection work must be done by a qualified technician. Wire the servo amplifier and linear servomotor after installation. Failure to observe this could lead to electric shocks. Do not touch the switches with wet hands. Failure to observe this could lead to electric shocks. Do not damage, apply forcible stress, place heavy items or engage the cable. Failure to observe this could lead to electric shocks.

III

3. Fire prevention

CAUTION

Install the servo amplifier, linear servomotor and regenerative resistor on noncombustible material. Direct installation on combustible material or near combustible materials could lead to fires. If a servo amplifier fault should occur, turn OFF the power on the servo amplifier's power supply side. If a large current continues to pass, fires could occur. Shut off the power with the error signal. Failure to do so could cause the regenerative resistor to abnormally overheat and fires to occur due to faults in the regenerative transistor, etc.

4. Injury prevention

CAUTION

Do not apply a voltage other than that specified in Instruction Manual on each terminal. Failure to observe this item could lead to ruptures or damage, etc. Do not mistake the terminal connections. Failure to observe this item could lead to ruptures or damage, etc. Do not mistake the polarity(+, -) . Failure to observe this item could lead to ruptures or damage, etc. Do not touch the servo amplifier fins, regenerative resistor or linear motor, etc., while the power is turned ON or immediately after turning the power OFF. Some parts are heated to high temperatures, and touching these could lead to burns.

IV

5. Various precautions Observe the following precautions. Incorrect handling of the unit could lead to faults, injuries and electric shocks, etc.

(1) Transportation and installation

CAUTION

Correctly transport the product according to its weight. Do not stack the products above the tolerable number. Do not hold the front cover when transporting the servo amplifier. The unit could drop. Follow this Instruction Manual and install the unit in a place where the weight can be borne. Always store the secondary side of the linear servomotor in the delivered packaged state. Do not get on top of or place heavy objects on the unit. Always observe the installation directions. During the interval from unpacking to installation, the risks posed by the magnetic attraction force in the secondary side of the linear servomotor will increase, so take special care, and install the correctly. Secure the specified distance between the servo amplifier and control panel, or between the servo amplifier and other devices. Do not install or run a servo amplifier or linear servomotor that is damaged or missing parts. Do not let conductive objects such as screws or metal chips, etc., or combustible materials such as oil enter the servo amplifier or linear servomotor. The servo amplifier and linear servomotor are precision devices, so do not drop them or apply strong impacts to them. Store and use the units under the following environment conditions.

Conditions

Environment Servo

amplifier Scale I/F

unit

Pole detec-tion

unit Linear servomotor

Ambient temperature 0°C to +55°C (with no dew condensation)

0°C to +40°C (with no dew condensation)

Ambient humidity 90% (RH) or less (with no dew condensation)

80% (RH) or less (with no dew condensation)

Storage temperature –15°C to +70°C (with no freezing)

–15°C to +50°C (with no freezing)

Storage humidity 90% (RH) or less (with no dew condensation)

Atmosphere Indoors (Where unit is not subject to direct sunlight) With no corrosive gas, combustible gas, oil mist or dust.

Altitude 1000m or less above sea level Vibration 4.9m/s2 98m/s2 98m/s2

V

CAUTION

Always use nonmagnetic tools when installing the linear servomotor. Always mount a mechanical stopper on the end of the linear servomotor's travel path to avoid danger if the motor should go over the end. Securely fix the linear servomotor onto the machine. Insufficient fixing could cause the servomotor to come off during operation. Provide a cover on the movable sections of the linear servomotor so that they are never touched during operation. When storing for a long time, please contact your dealer.

(2) Wiring

CAUTION

Correctly and securely perform the wiring. Failure to do so could lead to runaway of the servomotor. Do not install a phase advancing capacity, surge absorber or radio noise filter on the output side of the servo amplifier. Correctly connect the output side (terminals U, V, W). Failure to do so could lead to abnormal operation of the servomotor. Do not directly connect a commercial power supply to the linear servomotor. Doing so could lead to faults. Make sure not to mistake the orientation of the surge absorbing diode installed on the DC relay for the control output signal. Failure to do so could cause a trouble preventing the signal from being output, or could inhibit operation of the protection circuit during an emergency stop, etc. Do not connect/disconnect the cables connected between each unit while the power is ON. Securely tighten the fixing screws and fixing mechanisms on the cable connectors. Insufficient fixing could cause the connectors to dislocate during operation. Ground the shield cables indicated in the Connection Manual with a cable clamp, etc. Separate the signal wire away from the power line/electricity line. Use wires and cables having a wire diameter, heat resistance and bending characteristics compatible for the system.

VI

(3) Trial operation and adjustment

CAUTION Check and adjust each parameter before starting operation. Failure to do so could lead to

unforeseen operation of the machine. Do not make remarkable adjustments and changes as the operation could become unstable.

(4) Usage methods

CAUTION Install an external emergency stop circuit so that the operation can be stopped and power

shut OFF immediately. Unqualified persons must not disassemble or repair the unit. If the alarm is reset (RST) with the operation start signal (ST) ON, the servomotor will restart suddenly. Confirm that the operation signal is OFF before resetting. Failure to observe this could lead to accidents. Never make modifications. Reduce magnetic interference by installing a noise filter. The electronic devices used near the servo amplifier could be affected by magnetic noise. Always use the linear servomotor and servo amplifier with the designated combination. The linear servomotor basically does not have any devices such as the magnetic brakes installed. Thus, when using this for an axis onto which an unbalance force is applied, such as a gravity axis, install a stopping device on the machine side to secure safety. Always carry out trial operation after changing the program or parameters, and after maintenance and inspection. Do not enter the machine's movable range during automatic operation. For an unbalanced axis, such as a gravity axis, basically balance it with a device such as a counterbalance. With the linear motor, the continuous thrust is lower than the rotary motor, so if the axis is unbalanced the motor's heating amount will increase. If an error should occur, the axis will drop naturally. This is hazardous as the dropping distance and dropping speed are large.

(5) Troubleshooting

CAUTION If a hazardous situation is predicted during stop or product trouble, install an external brake

mechanism. If an alarm occurs, remove the cause and secure the safety before resetting the alarm. Never go near the machine after restoring the power after a failure, as the machine could start suddenly. (Design the machine so that personal safety can be ensured even if the machine starts suddenly.)

VII

(6) Maintenance, inspection and part replacement

CAUTION

Carry out maintenance and inspection after backing up the servo amplifier programs and parameters. The capacity of the electrolytic capacitor will drop due to deterioration. To prevent secondary damage due to failures, replacing this part every five years when used under a normal environment is recommended. Contact the Service Center or Service Station for replacements. Do not carry out a megger test (insulation resistance test) during the inspections. If the battery warning is issued, save the machining program, tool data and parameters with an input/output device, and then replace the battery.

(7) Disposal

CAUTION

Treat this unit as general industrial waste. Note that the MDS Series units with a heat radiating fin protruding from the back use alternate Freon, and thus cannot be treated as general industrial waste. Always return this part to the Service Center or Service Station. A permanent magnet is used on the secondary side of the linear servomotor. This also must be returned to the Service Center or Service Station. Do not disassemble the servo amplifier or linear servomotor parts.

(8) General precautions

CAUTION The drawings given in this Specifications and Maintenance Instruction Manual show the covers and safety partitions, etc., removed to provide a clearer explanation. Always return the covers or partitions to their respective places before starting operation, and always follow the instructions given in this manual.

i

Contents Chapter 1 Outline 1-1 Outline ..................................................................................................................... 1-2 1-2 Features................................................................................................................... 1-2 Chapter 2 Drive System Configuration 2-1 Basic system configuration................................................................................... 2-3 2-2 List of units and corresponding linear motors.................................................... 2-4 2-3 Linear motor drive system..................................................................................... 2-5 2-3-1 Standard linear servo system ......................................................................... 2-5 2-3-2 Configuration of parallel drive system............................................................. 2-8 Chapter 3 Selection 3-1 Selecting the linear servomotor............................................................................ 3-2 3-1-1 Max. feedrate.................................................................................................. 3-2 3-1-2 Max. thrust ...................................................................................................... 3-2 3-1-3 Continuous thrust............................................................................................ 3-4 3-2 Selecting the power supply unit ........................................................................... 3-6 3-3 Selecting the power supply capacity, wire size, AC reactor, contactor and NFB ................................................................................................. 3-6 Chapter 4 Linear Servomotor Specifications 4-1 Type configuration ................................................................................................. 4-2 4-2 List of specifications.............................................................................................. 4-3 4-3 Speed – torque characteristics drawing (At input voltage 200VAC) ................. 4-4 4-4 Dynamic brake characteristics.............................................................................. 4-5 4-5 Outline dimensions ................................................................................................ 4-6 4-6 Explanation of connectors .................................................................................... 4-9 Chapter 5 Servo Drive Specifications 5-1 Type configuration ................................................................................................. 5-2 5-2 List of specifications.............................................................................................. 5-3 5-3 Overload protection specifications ...................................................................... 5-4 5-4 Outline dimensions ................................................................................................ 5-6 5-5 Explanation of connectors and terminal blocks.................................................. 5-8 5-6 Dynamic brake unit ................................................................................................ 5-9 5-6-1 Connection of dynamic brake unit .................................................................. 5-9 5-6-2 Outline dimensions of dynamic brake unit ...................................................... 5-10 5-7 Battery unit.............................................................................................................. 5-10 5-7-1 Connection of battery unit ............................................................................... 5-10 5-7-2 Outline dimensions of battery unit .................................................................. 5-10 Chapter 6 Detector Specifications 6-1 Linear scale............................................................................................................. 6-2 6-2 Scale I/F unit ........................................................................................................... 6-3 6-2-1 Outline ............................................................................................................ 6-3 6-2-2 Type configuration .......................................................................................... 6-3 6-2-3 List of specifications........................................................................................ 6-4 6-2-4 Outline dimensions ......................................................................................... 6-5 6-2-5 Explanation of connectors .............................................................................. 6-6 6-3 Pole detection unit ................................................................................................. 6-7 6-3-1 Outline ............................................................................................................ 6-7

ii

6-3-2 Type configuration .......................................................................................... 6-7 6-3-3 List of specifications........................................................................................ 6-7 6-3-4 Outline dimensions ......................................................................................... 6-8 6-3-5 Explanation of connectors .............................................................................. 6-8 6-3-6 Installation....................................................................................................... 6-9 Chapter 7 Installation 7-1 Installation of the linear servomotor .................................................................... 7-2 7-1-1 Environmental conditions................................................................................ 7-3 7-1-2 Installing the linear servomotor....................................................................... 7-3 7-1-3 Cooling of linear servomotor ........................................................................... 7-4 7-2 Installation of the servo amplifier ......................................................................... 7-5 7-2-1 Environmental conditions................................................................................ 7-5 7-2-2 Drive section wiring system diagram .............................................................. 7-6 7-2-3 Installing the unit ............................................................................................. 7-7 7-2-4 Layout of each unit ......................................................................................... 7-8 7-2-5 Main circuit connection ................................................................................... 7-9 7-2-6 Connection of feedback cable ........................................................................ 7-11 7-2-7 Link bar specifications .................................................................................... 7-12 7-2-8 Separated layout of units ................................................................................ 7-13 7-2-9 Installing multiple power supply units ............................................................. 7-14 7-2-10 Installation for 2ch communication specifications with CNC, and

installation of only one power supply unit ..................................................... 7-16 7-2-11 Connection of battery unit ............................................................................. 7-17 7-2-12 Connection with mechanical brakes ............................................................. 7-18 Chapter 8 Drive Section Connector and Cable Specifications 8-1 Cable connection system ...................................................................................... 8-2 8-1-1 Cable option list .............................................................................................. 8-3 8-2 Cable connectors ................................................................................................... 8-5 8-2-1 Servo amplifier CN1A, CN1B and CN9 cable connector ................................ 8-5 8-2-2 Servo amplifier CN2 and CN3 cable connector .............................................. 8-5 8-2-3 Servo amplifier CN20 connector (for mechanical brakes) .............................. 8-5 8-2-4 MDS-B-HR, MDS-B-MD cable connector ....................................................... 8-6 8-2-5 Power supply section power wire connector................................................... 8-7 8-2-6 Flexible conduits ............................................................................................. 8-10

(1) Method for connecting to a connector with back shell............................... 8-10 (2) Method for connecting to the connector main body .................................. 8-10

8-3 Cable clamp fitting ................................................................................................. 8-11 8-4 Cable wire and assembly....................................................................................... 8-12 8-5 Cable connection diagram..................................................................................... 8-13 8-5-1 CNC unit bus cable......................................................................................... 8-13 8-5-2 Absolute value scale coupling cable............................................................... 8-14 8-5-3 Cable for amplifier – scale I/F unit .................................................................. 8-15 8-5-4 Cable for scale I/F unit – scale ....................................................................... 8-16 8-5-5 Cable for scale I/F unit – pole detector ........................................................... 8-17 8-5-6 Cable for I/F unit – motor thermal ................................................................... 8-17 8-5-7 Mechanical brake cable .................................................................................. 8-18 Chapter 9 Setup 9-1 Initial setup of servo drive unit ............................................................................. 9-2 9-1-1 Setting the rotary switches.............................................................................. 9-2 9-1-2 Transition of LED display after power is turned ON........................................ 9-2 9-2 Setting the initial parameters ................................................................................ 9-3 9-2-1 Setting the initial parameters .......................................................................... 9-3

iii

(1) Command polarity/feedback polarity (SV017: SPEC) ............................... 9-3 (2) Servo specifications (SV017: SPEC) ........................................................ 9-4 (3) Ball screw pitch (SV018: PIT).................................................................... 9-4 (4) Detector resolution (SV019: RNG1, SV020: RNG2) ................................. 9-4 (5) Motor type (SV025: MTYP) ....................................................................... 9-5 (6) Detector type (SV025: MTYP)................................................................... 9-6 (7) Power supply type (SV036: PTYP)............................................................ 9-7 9-2-2 Parameters set according to feedrate............................................................. 9-8 9-2-3 Parameters set according to machine movable mass .................................... 9-8 9-2-4 List of standard parameters for each motor .................................................... 9-9 9-3 Initial setup of the linear servo system ................................................................ 9-10 9-3-1 Installation of linear motor and linear scale .................................................... 9-10 9-3-2 DC excitation function..................................................................................... 9-13 9-3-3 Setting the pole shift ....................................................................................... 9-15 9-3-4 Setting the parallel drive system..................................................................... 9-17 9-3-5 Settings when motor thermal is not connected............................................... 9-18 Chapter 10 Adjustment 10-1 Measurement of adjustment data ....................................................................... 10-2 10-1-1 D/A output specifications .............................................................................. 10-2 10-1-2 Setting the output data.................................................................................. 10-2 10-1-3 Setting the output scale ................................................................................ 10-2 10-2 Gain adjustment ................................................................................................... 10-3 10-2-1 Current loop gain .......................................................................................... 10-3 10-2-2 Speed loop gain............................................................................................ 10-3 10-2-3 Position loop gain ......................................................................................... 10-5 10-3 Characteristics improvement .............................................................................. 10-7 10-3-1 Optimal adjustment of cycle time.................................................................. 10-7 10-3-2 Vibration suppression method ...................................................................... 10-10 10-3-3 Improving the cutting surface precision ........................................................ 10-11 10-3-4 Improvement of protrusion at quadrant changeover ..................................... 10-13 10-3-5 Improvement of overshooting ....................................................................... 10-18 10-3-6 Improvement of characteristics during acceleration/deceleration................. 10-21 10-4 Setting for emergency stop ................................................................................. 10-24 10-4-1 Vertical axis drop prevention control............................................................. 10-24 10-4-2 Deceleration control ...................................................................................... 10-31 10-5 Collision detection ............................................................................................... 10-32 10-6 Parameter list........................................................................................................ 10-35 Chapter 11 Troubleshooting 11-1 Points of caution and confirmation .................................................................... 11-2 11-2 Troubleshooting at start up................................................................................. 11-3 11-3 List of servo alarms and warnings ..................................................................... 11-4 11-4 Alarm details ......................................................................................................... 11-6 11-5 LED display Nos. at memory error...................................................................... 11-8 11-6 Error parameter Nos. at initial parameter error ................................................. 11-8 11-7 Troubleshooting for each servo alarm ............................................................... 11-9

1–1

Chapter 1 Outline

1-1 Outline .......................................................................................................... 1-2 1-2 Features........................................................................................................ 1-2

Chapter 1 Outline

1–2

1-1 Outline

In recent years, demands for high accuracy, high speed and high efficiency have increased in the field of machine tools. The application of a linear servo for the feed axis has increased as a measure to respond to the demands. With the linear servo system, high speed and high acceleration characteristics can be achieved in respect to the ball screw drive system. Furthermore, as there is no ball wear, etc., which is the disadvantage of using a ball screw drive, the life of the machine can be extended. A response error caused by backlash or wear does not occur, so a high accuracy system can be structured. The MELDAS linear servo system has been developed to realize a max. speed of 120m/min and acceleration of 98m/s2 (motor unit) as a standard.

1-2 Features (1) Ample lineup (Seven models)

Machines can be handled flexiblely. Thus, thrust can be increased by using several motors for one axis.

(2) High speed and high acceleration

The max. speed is 2m/s as a standard. An acceleration of 98m/s2 is possible with the motor unit.

(3) Absolute position detection system As the absolute position detection system, the Mitsutoyo linear scale AT342 and Heidenhain absolute position linear scale LC191M are compatible with the MELDAS high-speed serial communication specifications. (Both are battery-less)

(4) High performance servo drive Compared to the conventional amplifier MDS-B-Vx, the servo processing performance has been greatly improved. The high-gain servo MDS-B-V14L has been developed to achieve high speed and more accurate machining in combination with the high frequency PWM control. Linear servo systems requiring a higher speed and accuracy are powerfully backed up by the high-gain servo MDS-B-V14L.

2–1

Chapter 2 Drive System Configuration

2.1 Basic system configuration ........................................................................ 2-3 2-2 List of units and corresponding linear motors ......................................... 2-4 2-3 Linear motor drive system .......................................................................... 2-5 2-3-1 Standard linear servo system............................................................... 2-5 2-3-2 Configuration of parallel drive system .................................................. 2-8


2–2

WARNING

All wiring work must be carried out by a qualified electrician. Wait at least 10 minutes after turning the power OFF, before starting wiring or inspections. Failure to observe this could lead to electric shocks. Install the servo amplifier and linear servomotor before staring wiring. Failure to observe this could lead to electric shocks. Do not damage, apply forcible stress, place heavy things on, or catch the cables. Failure to observe this could lead to electric shocks.

CAUTION

Correctly wire the machine. Failure to observe this could lead to runaway of the linear servomotor or injuries. Make sure not to mistake the connection terminals. Failure to observe this could lead to ruptures or trouble. Make sure not to mistake the polarity (+, –). Failure to observe this could lead to ruptures or trouble. Make sure not to mistake the orientation of the surge absorbing diode installed on the DC relay for the control output signal. Failure to do so could cause a trouble preventing the signal from being output, or could inhibit operation of the protection circuit during an emergency stop, etc. Do not install a phase-advancing capacitor, surge absorber or radio noise filter on the output side of the servo amplifier. Shut off the power with the error signal. Failure to do so could cause the regenerative resistor to abnormally overheat and fires to occur due to faults in the regenerative transistor, etc. Do not modify the machine.


2–3

2.1 Basic system configuration

Example: One spindle axis + two rotary servo axes + one linear servo axis

MC

NF

For control circuit power supply (RS)

200VAC

MDS-B-AL

3ø 200VAC formain circuit power

supply

8 8 8 8 8 8 8 8

Servo drive unit(two axes)MDS-B-V24

Servo drive unit(two axes)MDS-B-V14L

Spindle drive unit(one axis)MDS-B-SP

Power supplyunitMDS-B-CV

AC reactor

Linear servomotor primary side

Linear servomotor secondary side,permanent magnet

Servomotor

MELDAS CNC

L+L– L11L21

U V W U V W L1 L2 L3

Linear scale

Spindle motor

U V W

Detector cable

Servomotor

Linear scale

Detector cable


2–4

CAUTION

1. In a system having a spindle drive unit, always place the spindle drive unit next to the power supply unit as shown in the drawing. Also, place the servo drive unit 11kW and above next to the power supply unit.

2. When also using a spindle drive unit, place the units next to the power supply unit in order of the drive capacity size.

3. The use of the contactor installation can be selected except for the MDS-B-CV-370.

4. Use without a contactor is possible, except for the MDS-B-CV-370. However, for safety purposes, use of a contactor is recommended.

Set the rotary switch on the power supply unit as follows according to whether the contactor is used.

With contactor ･･････ Rotary switch setting = 0 Without contactor ･･･ Rotary switch setting = 1 For the MDS-A-CR, the rotary switch is fixed to 0. Always install a contactor. 5. Always install an AC reactor (shipped from Mitsubishi). Note that this is not

required for the A-CR. Wire the AC reactor to the front (NF side) of the contactor.

2-2 List of units and corresponding linear motors

Linear servo amplifier Corresponding servo amplifier (LM- )

Type NP2S-05M

NP2M-10M

NP2L-15M

NP4S-10M

NP4M-20M

NP4L-30M

NP4G-40M Type

MDS-B- Capacity Outline H×W×D (mm) Outline dimension types

Max. thrust 1500N 3000N 4500N 3000N 6000N 9000N 12000N

V14L-01 0.1kW V14L-03 0.3kW V14L-05 0.5kW V14L-10 1.0kW

380×60×180 A0 type

V14L-20 2.0kW V14L-35 3.5kW

380×60×300 A1 type

V14L-45 4.5kW

380×90×300 B1 type

V14L-70 7.0kW V14L-90 9.0kW

380×120×300 C1 type

V14L-110 11.0kW V14L-150 15.0kW

380×150×300 D1 type

Outline dimension and

outline type of each unit A0/A1 B1 C1 D1

Outline drawing (mm)

W:60

Fin section D:120

D:300 180

H:380

Fin

The A0 type does not havea fin. (Depth 180)

W:90

Fin 120

D:300

H:380

W:120

Fin 120D:300

H:380

W:150

Fin 120

D:300

H:380


2–5

2-3 Linear motor drive system

CAUTION

1. With the linear servo system, the linear motor is assembled into the machine, and the position detector (linear scale) is also installed when the machine is assembled. Thus, it is not possible to know the motor pole position beforehand as information in the CNC unit. At the first machine startup, basically, the servo loop cannot be applied, so take special care when starting up a machine having an unbalanced axis such as a gravity axis.

CAUTION

2. The linear servomotor basically does not have any devices such as the magnetic brakes installed. Thus, when using this for an axis onto which an unbalance force is applied, such as a gravity axis, install a stopping device on the machine side to secure safety.

CAUTION

3. Use the linear servomotor and servo amplifier with the designated combination.

For an unbalanced axis, such as a gravity axis, basically balance it with a device such as a counterbalance. With the linear motor, the continuous thrust is lower than the rotary motor, so if the axis is unbalanced the motor's heating amount will increase. If an error should occur, the axis will drop naturally. This is hazardous as the dropping distance and dropping speed are large.

2-3-1 Standard linear servo system

The standard drive system configuration of the linear servo system is shown below. For the linear servo system, the corresponding servo drive unit is the MDS-B-V14L.

Detection system Resolution Max. speed Servo driver Linear scale Scale I/F

Pole detection

unit Remarks

0.04µm 120m/min LS186 (Heidenhain)

Standard incremental system

0.08µm

480m/min Note currently this is 120m/min due to restrictions by the linear motor.

LIDA181 (Heidenhain)

High-speed operation is possible. However, as the scale is an open type, there are limits to the working environment.

0.008µm 48m/min

MDS-B-V14L-

LIF181 (Heidenhain)

MDS-B-HR11M

MDS-B-MD-600

This has a high resolution so the controllability is increased. The max. speed is limited. (Open type scale)

Incre-mental system

With the above three types, an analog voltage output type scale can also be used.

0.1µm 120m/min LC191M (Heidenhain) — —

0.5m 110m/min AT342 (Mitsutoyo) — —

Standard absolute system.

Absolute system

Absolute position 0.5µm Position/ speed resolution for control 0.04µm

110m/min

MDS-B-V14L-

AT342 special

(Mitsutoyo) MDS-B-H

R-21M —

This has a high resolution so the controllability is increased. (The control position and speed resolution are increased.)

MDS-B-HR-21 can be used when detecting the motor thermal signal with the CNC.


2–6

(1) Standard incremental system MDS-B-V14LServo driver

ＣＮ１Ａ

To next axis,terminator orbattery unit

To powersupply if finalaxis

ＣＮ２

EmptyCON3

CON4

CON1

CON2

CN1A

CN2

CN4

CN3

To NC orprevious axis

CN1B

Scale I/F(MDS-B-HR-11M)

Linear motorprimary side

Linear motor secondaryside permanent magnet

Pole detector(MDS-B-MD-600)

Analog voltage output typeincremental scale(LS186,LIDA181,LIF181,etc.)

L+L–

Single-phase200VAC

U V W

Motor thermalsignal

(2) Absolute system (System using linear scale LC191M)

CAUTION In a system that does not use the MDS-B-HR unit (scale I/F unit), use the motor thermal signal for the CNC unit's general-purpose input port, and detect the motor overheating.

ＣＮ１Ａ

ＣＮ２

MDS-B-V14LServo driver

To NC general-purpose input port

LC191M (Heidenhain)Absolute position linear scale


To powersupply if finalaxis



Linear motorsecondary sidepermanentmagnet

Motor thermalsignal

CN1ACN1B

CN4

CN3

CN2

L+L–

Single-phase200VAC

U V W

Unit name Type Qty. Linear servomotor LM-NP - 1 Servo driver MDS-B-V14L- 1 Linear scale LS186, LIDA181 etc. 1 Scale I/F unit MDS-B-HR-11M 1 Pole detection unit MDS-B-MD-600 1

Unit name Type Qty. Linear servomotor LM-NP - 1 Servo driver MDS-B-V14L- 1 Linear scale LC191M 1 Scale I/F unit None 0 Pole detection unit None 0


2–7

(3) Absolute system 2 (System using linear scale AT342) The linear scale and servo drive unit can be connected directly and used without the scale I/F unit (MDS-B-HR) or pole detection unit (MDS-B-MD). Note that the position and speed resolution will be limited to 0.5µm, so to further improve the controllability, use of the system shown in (4) is recommended.

CAUTION In a system that does not use the MDS-B-HR unit (scale I/F unit), use the motor thermal signal for the CNC unit's general-purpose input port, and detect the motor overheating.


ＣＮ１Ａ

ＣＮ２

CN1A

CN2

CN4

CN3

CN1B

L+L–

Single-phase200VAC

U V W


To power supply iffinal axis




Motor thermalsignal

To NC general-purpose input port

AT342 (Mitsutoyo)Absolute positionlinear scale

(4) Absolute system 3 (System using linear scale AT342 special + MDS-B-HR-21)

By using the scale I/F unit (MDS-B-HR), the resolution of the position and speed used for servo control can be improved, thereby improving the servo's controllability.


ＣＮ１Ａ

ＣＮ２

EmptyCON3

CON4Empty

CON1

CON2

CN1A

CN2

CN4

CN3

CN1B

Scale I/F(MDS-B-HR-21M)

L+L–

Single-phase200VAC

U V W


To power supplyif final axis




Motor thermalsignal

AT342 special (Mitsutoyo)Absolute position linear scale

Unit name Type Qty. Linear servomotor LM-NP - 1 Servo driver MDS-B-V14L- 1 Linear scale AT342 1 Scale I/F unit None 0 Pole detection unit None 0

Unit name Type Qty. Linear servomotor LM-NP - 1 Servo driver MDS-B-V14L- 1 Linear scale AT342 (Special) 1

Scale I/F unit

MDS-B-HR-21M MDS-B-HR-21 can be used when detecting the motor thermal signal with the CNC.

0

Pole detection unit None 0


2–8

2-3-2 Configuration of parallel drive system

The system configuration when driving one axis with two motors and two servo drive units is as shown below. In this case, the position command sent to each servo drive unit must be the same position command using the CNC synchronous control function.

(1) 2-scale 2-motor (2-amplifier) control

MDS-B-V14L

ＣＮ１Ａ

ＣＮ２

CN4

CN1B CN1B

CN4

CN3

ＣＮ１Ａ

CN3

Linear scale

L+L– Single-phase200VAC

U V WCON3

CON4

CON1

CON2

Analog voltage output typeincremental scale orAT342 (Mitsutoyo)

absolute position scale

Linear scale

Pole detector(MDS-B-MD-600)* Not required for the AT342 scale

EmptyCON3

CON4

CON1

CON2

CN2

CN1A

CN2

U V W

Master axis

MDS-B-V14L

Slave axis

Scale I/F(Incremental scale : MDS-B-HR-11M)(AT342 scale : MDS-B-HR-21M)




Linear motorprimary side(Slave) Motor thermal

signal

Linear motorprimary side (Master)


Pole detector(MDS-B-MD-600)* Not required for the AT342 scale

Motor thermal signal

Incremental system Unit name Type Qty.

Linear servomotor LM-NP - 2 Servo driver MDS-B-V14L- 2 Linear scale LS186, LIDA181 etc. 2

MDS-B-HR-12M

1 Scale I/F unit

MDS-B-HR-11M

1

Pole detection unit MDS-B-MD-600 2

Absolute system Unit name Type Qty.

Linear servomotor LM-NP - 2 Servo driver MDS-B-V14L- 2 Linear scale AT342 (Special) 2 Scale I/F unit MDS-B-HR-22M

MDS-B-HR-22 can be used when detecting the motor thermal signal with the NC.

1

MDS-B-HR-21M MDS-B-HR-21 can be used when detecting the motor thermal signal with the NC.

1



2–9

(2) 1-scale 2-motor (2-amplifier) control When using only one linear scale to detect the position, if this linear scale is an incremental scale, the pole position of each motor cannot be detected independently. Thus, the motor installation position on the master side and slave side must be mechanically aligned. If the linear scale is an absolute position scale, the pole position of each motor can be set independently in the CNC as an absolute position even when only one linear scale is being used. However in this case, DC excitation must be carried out with only one motor, so this method is limited to when the axis can be driven with one motor (possible if low-speed drive) is possible.

MDS-B-V14L

ＣＮ１Ａ

ＣＮ２

CN4

CN1B CN1B

CN4

CN3

ＣＮ１Ａ

CN3

L+L– Single-phase200VAC

U V WCON3

CON4

CON1

CON2

Linear scale

CN2

CN1A

CN2

ＵＶＷ

Master axis

MDS-B-V14L

Slave axis




Linear motorprimary side(Slave)

Motor thermalsignal

Linear motor primaryside (Master)

Analog voltage output typeincremental scale orAT342 (Mitsutoyo)

absolute position scalePole detector(MDS-B-MD-600)* Not required for the AT342 scale


Incremental system Unit name Type Qty.

Linear servomotor LM-NP - 2 Servo driver MDS-B-V14L- 2 Linear scale LS186, LIDA181 etc. 1 Scale I/F unit MDS-B-HR-12M

1

Pole detection unit MDS-B-MD-600 1

Absolute system Unit name Type Qty.

Linear servomotor LM-NP - 2 Servo driver MDS-B-V14L- 2 Linear scale AT342 (Special) 1 Scale I/F unit MDS-B-HR-22M

MDS-B-HR-22 can be used when detecting the motor thermal signal with the NC.

1


3–1

Chapter 3 Selection

3-1 Selecting the linear servomotor ................................................................. 3-2 3-1-1 Max. feedrate ....................................................................................... 3-2 3-1-2 Max. thrust ........................................................................................... 3-2 3-1-3 Continuous thrust................................................................................. 3-4 3-2 Selecting the power supply unit................................................................. 3-6 3-3 Selecting the power supply capacity, wire size, AC reactor,

contactor and NFB ....................................................................................... 3-6

Chapter 3 Selection

3–2

3-1 Selecting the linear servomotor

It is important to select a linear servomotor matched to the purpose of the machine that will be installed. If the linear servomotor and machine to be installed do not match, the motor performance cannot be fully realized, and it will also be difficult to adjust the parameters. Be sure to understand the linear servomotor characteristics in this chapter to select the correct motor.

3-1-1 Max. feedrate

The max. feedrate for the LM-N Series linear servomotor is 120m/min. However, there are systems that cannot reach the max. speed 120m/min depending on the linear scale being used. Refer to the section "2-3-1 Standard linear servo system) for the main systems and possible max. feedrates.

3-1-2 Max. thrust The linear servomotor has an output range for the continuous thrust that can be used only for short times such as acceleration/deceleration. If the motor is a self-cooling type, a thrust that is approx. 6-fold can be output. For an oil-type motor, a thrust that is approx. 3-fold can be output. The max. linear motor thrust required for acceleration/deceleration can be approximated using the machine specifications and expression (3-1).

Fmax = (M • a + Ff) • 1.2 ･･･ (3-1)

Fmax : Max. motor thrust (N) M : Movable mass (including motor's moving sections) (kg) a : Acceleration during acceleration/deceleration (m/s2) Ff : Load force (including cutting force, wear and unbalance force) (N)

Note that there is a servo response delay as shown on the right in respect to the acceleration in the acceleration/ deceleration command set with the CNC. Thus, the acceleration characteristics (thrust characteristics required for acceleration/deceleration when movable mass is applied) in respect to the speed required for the linear servomotor will be as shown on the next page. (Conditions: Indicates the characteristics using the position loop gain during SHG control using a linear acceleration/deceleration command pattern.) Thus, when selecting the linear motor, refer to the speed - acceleration (thrust) characteristics on the next page, and confirm the speed - thrust characteristics (4-4 Torque characteristics drawing) for the linear motor.

(Note) The speed – acceleration characteristics on the next page are reference values at a specific condition, so if an S-character acceleration/deceleration filter is applied on the command, if the position loop gain differs, the characteristics will also differ.

Speed

Time

Commandspeed

Servo response

Chapter 3 Selection

3–3

During acceleration: Speed – acceleration During deceleration: Speed – acceleration Servo response characteristics Servo response characteristics Max. speed 120m/min, PGN1 = 47 (SHG) Max. speed 120m/min, PGN1 = 47 (SHG)

0 20 40 60 80 100 120

0

5

10

15

20

25

30

35

40

Velocity (m/min)

Command 29.4m/s2

Command 19.6m/s2

Command 9.8m/s2

Duringacceleration

Acce

lera

tion

(m/s

2)

0 20 40 60 80 100 120

0

5

10

15

20

25

30

35

40

Velocity (m/min)

Acce

lera

tion

(m/s

2)

Duringdecceleration

Command 29.4m/s2

Command 19.6m/s2

Command 9.8m/s2

Max. speed 80m/min, PGN1 = 47 (SHG) Max. speed 80m/min, PGN1 = 47 (SHG)

0 20 40 60 80 100 120

0

5

10

15

20

25

30

35

40

Velocity (m/min)

Acce

lera

tion

(m/s

2)

Duringacceleration

Command 29.4m/s2

Command 19.6m/s2

Command 9.8m/s2

0 20 40 60 80 100 1200

5

10

15

20

25

30

35

40

Velocity (m/min)

Acce

lera

tion

(m/s

2)

Duringdecceleration

Command 29.4m/s2

Command 19.6m/s2

Command 9.8m/s2


0 20 40 60 80 100 120

0

5

10

15

20

25

30

35

40

Velocity (m/min)

Acce

lera

tion

(m/s

2)

Duringacceleration

Command 29.4m/s2

Command 19.6m/s2

Command 9.8m/s2

0 20 40 60 80 100 120

0

5

10

15

20

25

30

35

40

Velocity (m/min)

Acce

lera

tion

(m/s

2)

Duringacceleration

Command 29.4m/s2

Command 19.6m/s2

Command 9.8m/s2


0 20 40 60 80 100 120

0

5

10

15

20

25

30

35

40

Velocity (m/min)

Acce

lera

tion

(m/s

2)

Duringacceleration

Command 29.4m/s2

Command 19.6m/s2

Command 9.8m/s2

0 20 40 60 80 100 120

0

5

10

15

20

25

30

35

40

Velocity (m/min)

Acce

lera

tion

(m/s

2)

Duringdecceleration

Command 29.4m/s2

Command 19.6m/s2

Command 9.8m/s2

Chapter 3 Selection

3–4

3-1-3 Continuous thrust A typical operation pattern is assumed, and the motor's continuous effective load thrust (Frms) is calculated from the load force. If numbers (1) to (8) in the following drawing were considered a one cycle operation pattern, the continuous effective load thrust is obtained from the root mean square of the thrust during each operation, as shown in the expression (3-2).

Motorthrust

Motorspeed 0

0F3

F2

t1 t2 t3 t4

t0

F1

Time

F4

F5F6

F7

F8

t5 t6 t7 t8

(1) (2) (3) (4) (5) (6) (7) (8)

Fig. 3-1 Continuous operation pattern

Frms = F12·t1 + F22·t2 + F32·t3 + F42·t4 + F52·t5 + F62·t6 + F72·t7 + F82·t8 t0

･･･ (3-2)

Select a motor so that the continuous effective load thrust (Frms) is 80% or less of the motor rated thrust (Fs).

Frms ≤ 0.8 × Fs ･･･ (3-3) (1) Horizontal axis load thrust

When operations (1) to (8) are for a horizontal axis, calculate so that the following thrusts are required in each period.

Table 3-1 Load thrusts of horizontal axes

Period Load thrust calculation method Explanation

(1) (Amount of acceleration thrust) + (Kinetic friction force)

Normally the acceleration/deceleration time constant is calculated so this thrust is 80% of the maximum thrust of the motor.

(2) (Kinetic friction force) + (Cutting force)

(3) (Amount of deceleration thrust) + (Kinetic friction force)

The signs for the amount of acceleration thrust and amount of deceleration thrust are reversed when the absolute value is the same value.

(4) (Static friction force) Calculate so that the static friction force is always required during a stop.

(5) − (Amount of acceleration thrust) − (Kinetic friction force)

The signs are reversed with period (1) when the kinetic friction does not change according to movement direction.

(6) − (Kinetic friction force) − (Cutting force) The signs are reversed with period (2) when the kinetic friction does not change according to movement direction.

(7) − (Amount of deceleration thrust) − (Kinetic friction force)

The signs are reversed with period (3) when the kinetic friction does not change according to movement direction.

(8) − (Static friction force) Calculate so that the static friction force is always required during a stop.

Chapter 3 Selection

3–5

(2) Unbalance axis load force When operations (1) to (8) are for an unbalance axis, calculate so that the following forces are required in each period. Note that the forward speed shall be an upward movement.

Table 3-2 Load thrusts of unbalance axes

Period Load thrust calculation method Explanation

(1) (Amount of acceleration thrust) + (Kinetic friction force) + (Unbalance force)

Normally the acceleration/deceleration time constant is calculated so this thrust is 80% of the maximum thrust of the motor.

(2) (Kinetic friction force) + (Unbalance force) + (Cutting force)

(3) (Amount of deceleration thrust) + (Kinetic friction force) + (Unbalance thrust)

The signs for the amount of acceleration thrust and amount of deceleration thrust are reversed when the absolute value is the same value.

(4) (Static friction force) + (Unbalance force)

The holding force during a stop becomes fairly large. (Upward stop)

(5) − (Amount of acceleration thrust) − (Kinetic friction force) + (Unbalance force)

(6) − (Kinetic friction force) + (Unbalance force) − (Cutting force)

The generated force may be in the reverse of the movement direction, depending on the size of the unbalance force.

(7) − (Amount of deceleration thrust) − (Kinetic friction force) + (Unbalance force)

(8) − (Static friction force) + (Unbalance force)

The holding force becomes smaller than the upward stop. (Downward stop)

POINT

During a stop, the static friction force may constantly be applied. The static friction force and unbalance force may particularly become larger during an unbalance upward stop, and the thrust during a stop may become extremely large. Therefore, caution is advised.

(3) Max. cutting thrust and max. cutting duty

If the max. cutting force and max. cutting duty (%/min) are known, the following expression can be used for the selection conditions.

0.8 × Fs ≥ Fc × D

100 ･･･ (3-4)

Fs : Motor continuous thrust (N) Fc : Max. cutting force during operation (N) D : Max. cutting duty (%/min)

(4) Unbalance force

CAUTION

For an unbalanced axis, such as a gravity axis, basically balance it with a device such as a counterbalance. With the linear motor, the continuous thrust is lower than the rotary motor, so if the axis is unbalanced the motor's heating amount will increase. If an error should occur, the axis will drop naturally. This is hazardous as the dropping distance and dropping speed are large.

Chapter 3 Selection

3–6

3-2 Selecting the power supply unit

Compared to the normal rotary motor, when using the linear servo system, the instantaneous output, such as the acceleration/deceleration, is large in respect to the continuous operation. Furthermore, this system is used in applications where acceleration/deceleration is carried out frequently, so the selection differs from the methods for selecting the conventional power supply unit. Power supply unit capacity > Σ (Spindle motor output)

+Σ (Capacity of servo amplifier driving linear motor) +0.7 × Σ (Rotary servomotor output) ･･･ (3-5) * When using two or more axes with the rotation motor

Select a power supply unit capacity having the minimum lineup capacity that satisfies expression (3-5).

(Caution) With the linear servo axis, this is used for an axis with a high acceleration/deceleration frequency compared to that multiplied by 0.7 when using two or more axes with the rotation motor, so the value does not need to be multiplied by 0.7.

POINT Refer to the "MELDAS AC Servo and Spindle MDS-A Series, MDS-B Series Specifications BNP-B3759B" for other details on the power supply unit.

3-3 Selecting the power supply capacity, wire size, AC reactor, contactor and

NFB

POINT

The selection of the power supply capacity, wire size, AC reactor, contactor and NFB is the same as the MDS-B-V1 unit. Refer to the "MELDAS AC Servo and Spindle MDS-A Series, MDS-B Series Specifications BNP-B3759B".

4–1

Chapter 4 Linear Servomotor Specifications

4-1 Type configuration....................................................................................... 4-2 4-2 List of specifications ................................................................................... 4-3 4-3 Speed – torque characteristics drawing (At input voltage 200VAC) ....... 4-4 4-4 Dynamic brake characteristics ................................................................... 4-5 4-5 Outline dimensions ..................................................................................... 4-6 4-6 Explanation of connectors.......................................................................... 4-9


4–2

4-1 Type configuration

The type indication for the linear servomotor differs for the primary side and secondary side.

(1) Primary side

LM – N P 1)

2) – 3)

4)

– 5)

(2) Secondary side

LM – N S

1)

0 – 2) – 3)

CAUTION

∗ The combination of the primary side and secondary side is indicated with the type symbol 1).

Select a model that has the same type symbol 1) for the primary side and secondary side.

5) Mitsubishi control No. The Mitsubishi control No. is indicated with two alphanumeric digits.

3) Rated thrust The rated thrust is indicated with the two digits for the 1000th place and 100th place. Example) 500[N]→05 3,000[N]→30

1) Width dimensions (nominal dimensions)

2 130 [mm] 4 210 [mm]

1) Length dimensions (nominal dimensions)

S 290 [mm] M 530 [mm] L 770 [mm] G 1,010 [mm]

4) Max. speed M 120 [m/s]

5) Mitsubishi control No. The Mitsubishi control No. is indicated with two alphanumeric digits.

2) Length dimensions (nominal dimensions) The secondary side length dimensions are indicated as a [mm] unit with three digits. Example) 360[mm]→360

1) Width dimensions (nominal dimensions)

2 120 [mm] 4 210 [mm]


4–3

4-2 List of specifications

Type

Item LM-

NP2S-05M LM-

NP2M-10M LM-

NP2L-15M LM-

NP4S-10M LM-

NP4M-20M LM-

NP4L-30M LM-

NP4G-40M

Cooling method

Unit

Self-cool-i

ng

Oil-cool-ing

Self-cool-i

ng

Oil-cool-ing

Self-cool-i

ng

Oil-cool-ing

Self-cool-i

ng

Oil-cool-ing

Self-cool-i

ng

Oil-cool-ing

Self-cool-i

ng

Oil-cool-ing

Self-cool-i

ng

Oil-cool-ing

Conti-nuous N 250 500 500 1000 750 1500 500 1000 1000 2000 1500 3000 2000 4000

Thrust Max. N 1500 3000 4500 3000 6000 9000 12000

Conti-nuous A 5 11 7 15 11 23 7 15 11.5 24 18 38 25 52

Current Max. A 40 55 83 55 84 138 188

Output (continuous) kW 0.5 1.0 1.0 2.0 1.5 3.0 1.0 2.0 2.0 4.0 3.0 6.0 4.0 8.0

Power voltage V 200

Max. speed m/min 120

Magnet attraction force N 3750 7500 11250 7500 15000 22500 30000

Coil resistance (1-phase at 20°C) Ω 1.43 1.40 0.92 1.15 0.77 0.44 0.32

Primary side (coil) kg 8.5 15 22 14.5 27 40 53

Weight Secondary side (magnet)

kg (360mm 1pc.) 5 (540mm 1pc.) 7.5

(360mm 1pc.) 9 (540mm 1pc.) 13.5

Drive amplifier type MDS-B-V14L-20

MDS-B-V14L-35

MDS-B-V14L-45

MDS-B-V14L-35

MDS-B-V14L-45

MDS-B-V14L-90

MDS-B-V14L-110

Caution 1. The above values are the design values, and are subject to change without notice.


4–4

4-3 Speed – torque characteristics drawing (At input voltage 200VAC)

1500

0 0 60 120

500

m/min

Thrust

Short time usagerange

Speed

N

3000

1000

0 0 60 120m/min

Thrust


Speed

N

4500

1500

00 60 120m/min

Thrust


Speed

N

3000

1000

00 60 120

m/min

Thrust


Speed

N

6000

2000

00 60 120

m/min

Thrust


Speed

N

9000

3000

00 60 120

m/min

Thrust


Speed

N

12000

4000

00 60 120

m/min

Thrust


Speed

N

Continuous usage Oil cooling



LM-NP2S-05M


LM-NP2M-10M LM-NP2L-15M




LM-NP4S-10M LM-NP4M-20M LM-NP4L-30M

LM-NP4G-40M


4–5

4-4 Dynamic brake characteristics When the system detects an abnormality, the motor stops the machine using the dynamic brakes. The machine's coasting amount at this time can be calculated with the following expression. Lmax = × [ 0.03 + M × A + B × F02 × 1.1 ] ･･･ (4-1)

Lmax : Machine coasting amount (m) F0 : Speed during brake operation (m/min) M : Total weight of moving section (kg) A : Coefficient (according to following table) B : Coefficient (according to following table)

(Note) Lmax has a ±10% variation due to the motor's inductive voltage constant.

Motor type Coefficient A Coefficient B LM-NP2S-05M 2.13 × 10–3 4.5 × 10–8 LM-NP2M-10M 1.04 × 10–3 2.26 × 10–8 LM-NP2L-15M 8.22 × 10–4 1.3 × 10–8 LM-NP4S-10M 9.03 × 10–4 2.61 × 10–8 LM-NP4M-20M 4.59 × 10–4 1.11 × 10–8 LM-NP4L-30M 3.73 × 10–4 6.18 × 10–9 LM-NP4G-40M 2.26 × 10–4 5.74 × 10–9

F0 60


4–6

4-5 Outline dimensions

Primary side dimensions

Changed dimensions

Type L A B C n

LM-NP2S-05M 290 55 55 3 × 2 2 LM-NP2M-10M 530 85 85 5 × 2 4 LM-NP2L-15M 770 70 70 8 × 2 7

Secondary side dimensions

Changed dimensions

Type L d n

LM-NS20-360 360 4 × 2 3 LM-NS20-540 540 6 × 2 5

L

50

12

23

130 105

Cannon connectorMS3102A22-23P

85

14

C-M8 screw, depth 12

Cooling oil inlet/outlet2-PT1/4 screw

Key position

Nameplate

A Bn×90

90

(27)

L

100120

19.5

82

9n×9045 45

90

Nameplate

d-ø9 (Installation hole)


4–7


Changed dimensions

Type L A B C n

LM-NP4S-10M 290 55 55 3 × 3 2 LM-NP4M-20M 530 85 85 5 × 3 4 LM-NP4L-30M 770 70 70 8 × 3 7

Secondary side dimensions

Changed dimensions

Type L d n

LM-NS40-360 360 4 × 2 3 LM-NS40-540 540 6 × 2 5

L

A

90

B50

15

23

20

75

75

210178

40

(30)

Cannon connectorMS3102A24-10P

C-M8 screw, depth 12 Cooling oil inlet/outlet2-PT3/8 screw

Key position

Nameplate

n×90

L

45

200 162

9

19.5Nameplate

180

90n×9045

d-ø9 (Installation hole)


4–8


Changed dimensions

Type L A B C

LM-NP4G-40M 1010 55 55 11 × 3

L

A

90

B

50

15

23

20

75

75210 178

40

C-M8 screw, depth 12Cooling oil inlet/outlet2-PT3/8 screw

Nameplate

10×90

Key position

Power supply cannonconnectorMS3101A32-17PCable length 700mm

Thermal cannonconnectorMS3101A10SL-4PCable length 700mm


4–9

4-6 Explanation of connectors For LM-NP2 (S, M, L) For LM-NP4 (S, M, L)

Pin symbol Lead wire side Pin

symbol Lead wire side

A B C

U V For motor W

A B C

U V For motor W

D E Grounding D E Grounding E F

G1 G2

E F

G1 G2

G H

Blank G Blank

(MS3102A22-23P)

(MS3102A24-10P)

Thermal protector Thermal protector

U

VW

E

B

CDE

FG

H

G2 Thermal protectorG1

Key position

For motor

Grounding

A U V W

E

B C

D E

F

G

G 2 T h e r m a l p r o t e c t o r G 1

K e y p o s i t i o n

F o r m o t o r

G r o u n d i n g

A


4–10

For LM-NP4G

Pin symbol Lead wire side Pin

symbol Lead wire side

A

B

C

D

U V For motor W Grounding

A

B

G1 Thermal protector G2

(MS3101A32-17P)

(MS3101A10SL-4P)

CAUTION Connect the thermal protector lead wire parallel to the emergency stop circuit on the CNC control unit, or connect it to the scale I/F unit (MDS-B-HR).

CAUTION If oil-proofing is required, use the oil-proof specification part for the cannon connector on the cable side.

POINT Use an MS type cannon connector compatible with the Mitsubishi rotation type (HA type, HC type) AC servomotor.

UV

W

E

BC

D

Key position

For motor

Grounding

A

B

G2 Thermal protectorG1

Key position

A

5–1

Chapter 5 Servo Drive Specifications

5-1 Type configuration....................................................................................... 5-2 5-2 List of specifications ................................................................................... 5-3 5-3 Overload protection specifications............................................................ 5-4 5-4 Outline dimensions ..................................................................................... 5-6 5-5 Explanation of connectors and terminal blocks ....................................... 5-8 5-6 Dynamic brake unit...................................................................................... 5-9 5-6-1 Connection of dynamic brake unit........................................................ 5-9 5-6-2 Outline dimensions of dynamic brake unit ........................................... 5-10 5-7 Battery unit................................................................................................... 5-10 5-7-1 Connection of battery unit .................................................................... 5-10 5-7-2 Outline dimensions of battery unit........................................................ 5-10


5–2

5-1 Type configuration MDS-B-V14L- Capacity class symbol 01 03 05 10 20 35 45 70 90 110 150

Capacity (kW)

0.1 kW

0.3 kW

0.5 kW

1.0 kW

2.0 kW

3.5 kW

4.5 kW

7.0 kW

9.0 kW

11.0 kW

15.0 kW


5–3

5-2 List of specifications

Amplifier type MDS-B-V14L- Capacity class symbol 01 03 05 10 20 35 45 70 90 110 150 Output voltage (V) 155 Continuous output current (A) 1.4 3.0 5.0 8.8 18.2 25.0 44.0 50.0 50.0 52.0 52.0

Max. output current (A) 3.9 8.1 17.0 28.0 42.0 57.0 85.0 113 141 204 260 Control method Sine wave PWM method Main circuit method Transistor, inverter (Intelligent power module using IGBT) Braking Dynamic brakes and deceleration to stop Tolerable load inertia As a guide, 2.5-times the motor inertia Tolerable ambient temperature 0°C to 55°C (with no freezing)

Tolerable ambient humidity 90% (RH) or less (with no dew condensation)

Storage temperature –15°C to 70°C (with no freezing) Storage humidity 90% (RH) or less (with no dew condensation)

Atmosphere Indoors (away from direct sunlight) With no corrosive gases, combustible gases and oil mist or dust

Tolerable vibration 4.9m/s2 Tolerable impact Acceleration 49m/s2: when packaged Max. heating amount (W) *26 *32 *45 *65 104 150 208 318 370 400 550

Weight (kg) 3.5 3.5 3.5 4.5 4.5 4.5 6.0 7.0 7.0 10.0 10.0 Capacity (kW) 0.1 0.3 0.5 1.0 2.0 3.5 4.5 7.0 9.0 11.0 15.0 Torque limit range 0 to 100% Noise dB (A) Within 55dB

(Note 1) The heating amount is the value for the rated output. (Note 2) When installed in a sealed state, the guide for the heating amount outside the panel must

be calculated with the following expression.

Heating amount outside panel = (Max. heating amount described in specifications above – 15) × 0.85

Note that the units marked with a * in the above specifications do not have a fin, so the heating amount is only for inside the panel.

(Note 3) Due to the structure, heat will easily accumulate in each unit. Thus, install a fan in the power distribution panel to agitate the heat at the top of the unit. (Velocity 2m/s or more)

CAUTION The MDS-B-V14L-110 and MDS-B-V14L-150 do not have built-in dynamic brakes. An external dynamic brake unit must be provided. Refer to the section 5-6 Dynamic brake unit.


5–4

5-3 Overload protection specifications

The servo amplifier has an electronic thermal to protect the servomotor and servo amplifier from overloads. The operation characteristics of the electronic thermal are shown below. If overload operation exceeding the electronic thermal protection curve shown below, the overload 1 (alarm 50) will occur. If a current exceeding 95% of the max. current continuously flows for one second or more due to a machine collision, etc., overload 2 (alarm 51) will occur.

Motor : LM-NP2S, NP2M, NP4S Servo amplifier : MDS-B-V14L-20, 35

Motor : LM-NP2L, NP4M Servo amplifier : MDS-B-V14L-45

When operating

When stopped

When operating

When stopped

Tim

e (s

) Ti

me

(s)


5–5

Motor : LM-NP4L Servo amplifier : MDS-B-V14L-90

Motor : LM-NP4G Servo amplifier : MDS-B-V14L-110

When operating

When stopped

When operating

When stopped

Tim

e (s

) Ti

me

(s)


5–6

5-4 Outline dimensions

d b

c

W = 60(Front)

(Installation)

d b

c

W = 90,120

(Installation)

d b

c

W = 150

Rectan-gular hole

(Installation)

W

Rectan-gularhole

Rectan-gularhole

340

120180

250

350380400

(Side)

Insidepanel

Outsidepanel

Servo drive unitFin+

fan

Maintenance area

Servo drive unit Capacity to 3.5kW 4.5kW 7 to 9kW 11 to 15kW

W 60 90 120 150 b 360 360 360 360 c 52 82 112 142 d 342 342 342 342

(Note) The outline dimension type A0 unit indicated in 2-2 List of units and corresponding linear motors does not have the fin + fan section.


5–7

(Note) The front view drawing shows the state with the terminal cover removed.

MDS-B-14L-01 MDS-B-14L-45 MDS-B-14L-70 03 90 05 10 20 35

MDS-B-14L-110 150


5–8

5-5 Explanation of connectors and terminal blocks

Name Application Remarks

CN1A CN1B CN9

CN4 CN2 CN3

Connection of CNC and upward axis Connection of battery unit and downward axis Maintenance (normally not used) Connection with power supply Connection with motor end detector Connection with machine end detector

Connector

CN20 External brake output contact

Also used for V14L-110/150 dynamic brake contact output

TE2 L+ L–

Converter voltage input (+) Converter voltage input (–)

TE3 L11 L21 200VAC single-phase input

Terminal block

TE1

U V W

Motor drive U-phase output Motor drive V-phase output Motor drive W-phase output


5–9

5-6 Dynamic brake unit The MDS-B-V14L-110 and MDS-B-V14L-150 do not have built-in dynamic brakes. An external dynamic brake unit must be provided.

5-6-1 Connection of dynamic brake unit

(1) For only dynamic brake unit

(2) For dynamic brake unit + magnetic brakes (combined use)


5–10

5-6-2 Outline dimensions of dynamic brake unit

Type A B C D E F G Weight Applicable servo

amplifier MDS-B-DBU-150 200 190 140 20 5 200 193.8 2kg MDS-B-V14L-110/150

5-7 Battery unit

For the linear servo system, a battery-less linear scale (AT342, LC191M) is used for the absolute position detector used in the absolute position system. Thus, basically the battery unit is not required. However, in a system using a rotation motor for the other axes, a battery unit is required for the CNC system.

5-7-1 Connection of battery unit

Refer to 7-2-11 Connection of battery unit. 5-7-2 Outline dimensions of battery unit

* Common for MDS-A Series and MDS-B Series.

MDS-A-BT-2 4 6 8

6–1

Chapter 6 Detector Specifications

6-1 Linear scale .................................................................................................. 6-2 6-2 Scale I/F unit................................................................................................. 6-3 6-2-1 Outline ................................................................................................. 6-3 6-2-2 Type configuration ............................................................................... 6-3 6-2-3 List of specifications............................................................................. 6-4 6-2-4 Outline dimensions .............................................................................. 6-5 6-2-5 Explanation of connectors.................................................................... 6-6 6-3 Pole detection unit....................................................................................... 6-7 6-3-1 Outline ................................................................................................. 6-7 6-3-2 Type configuration ............................................................................... 6-7 6-3-3 List of specifications............................................................................. 6-7 6-3-4 Outline dimensions .............................................................................. 6-8 6-3-5 Explanation of connectors.................................................................... 6-8 6-3-6 Installation............................................................................................ 6-9


6–2

6-1 Linear scale

The following types of scales can be used with the linear servo drive system. • Only some of the types are listed here. Note that the application may change due to changes in the

specifications and termination of production by the scale maker. • Select a scale from the scale maker's catalog, which satisfies the specifications given in 6-2 Scale

I/F unit specifications. (1) Linear scales that can be used as single part

• For absolute (absolute value) system (Battery unit not required)

Maker Scale type Scale specifications (excerpt) Mitsutoyo AT342 Max. operation speed 110m/min., resolution 0.5µm Heidenhain LC191M Max. operation speed 120m/min., resolution 0.1µm

(2) Linear scales usable as combination with MDS-B-HR scale I/F unit

• For incremental (incremental value) system

Maker Scale type Scale specifications (excerpt) Mitsutoyo AT342 (Special) Max. operation speed 110m/min., resolution 0.04µm

LS186 Max. operation speed 120m/min., resolution 0.04µm LIDA181 Max. operation speed 480m/min., resolution 0.08µm

Heidenhain

LIF181 Max. operation speed 48m/min., resolution 0.008µm

∗ The resolutions listed above are for combination with the MDS-B-HR unit. ∗ When using the AT342 (special) scale, an absolute position system can be assembled even

when used in combination with the MDS-B-HR unit. Note that the resolution of the absolute position recovered when the power is turned ON will be 0.5µm.


6–3

6-2 Scale I/F unit 6-2-1 Outline

MDS-B-HR outline (1) The scale analog output source waves are interpolated to generate high resolution position data. This is effective for increasing the servo's high gain by increasing the detector's resolution. (2) The linear motor's pole position data is generated with the source waves output by the

MDS-B-MD (pole detection unit). (3) 1-scale, 2-driver operation is possible with the signal branching function (with type class).

6-2-2 Type configuration

MDS-B-HR type configuration

MDS-B-HR- Protection format class No symbol: IP65 P: IP67 Pole detection unit compatibility class No symbol: Not MD compatible M: MD compatible Signal branching function class 1: No. of outputs 1 2: No. of outputs 2 (with branching) Scale output voltage class 1: Scale output voltage 1Vp-p specifications 2: Scale output voltage 2 Vp-p specifications


6–4

6-2-3 List of specifications

Scale I/F unit type MDS-B-HR- MDS-B-HR- MDS-B-HR- MDS-B-HR- MDS-B-HR- MDS-B-HR- MDS-B-HR- MDS-B-HR- Unit

11 12 11P 12P 21 22 21P 22P 11M 12M 11MP 12MP 21M 22M 21MP 22MP

Corresponding scale LS186 LIDA181 Heidenhain LIF181

AT342 special (Mitsutoyo)

LS186 LIDA181 Heidenhain LIF181

AT342 special (Mitsutoyo)

Pole detector connection Connection not

possible Connection not

possible Connection possible Connection possible

Two signal distribute function × × × × × × × ×

Analog signal input specifications

A phase, B phase, Z phase

2.5V standard Amplitude 1Vp-p







Corresponding frequency Analog source waveform 200kHz max

Scale resolution Analog source waveform/512 division

Input/output communication type High-speed serial communication I/F (MDS-B-V×4 specifications), equivalent to RS485

Pole detector compatibility Not compatible Compatible

Tolerable ambient temperature °C 0 to 55°C

Tolerable ambient relative humidity

% (RH) 90% (RH) or less (with no dew condensation)

Atmosphere No toxic gases

Tolerable vibration m/s2 98m/s2

Tolerable impact m/s2 294m/s2

Tolerable power voltage V 5VDC ± 5%

Max. heating amount W 2W

Weight kg 0.5kg or less

Protection type IP65 IP67 IP65 IP67 IP65 IP67 IP65 IP67


6–5

6-2-4 Outline dimensions

152 46

RM15WTR-10S

4-ø5 hole

6.5

RM15WTR-8P×2

165C

ON

4

70

6.5

RM15WTR-12S

CO

N3

CO

N2

CO

N1

55


6–6

6-2-5 Explanation of connectors

Connector name Application Remarks

CON1 Connection with servo amplifier (2nd system) Not required for 1-system specifications

CON2 Connection with servo amplifier CON3 Connection with scale

CON4 Connection with pole detection unit (MDS-B-MD)

Connector pin layout

CON1 Pin No. Function

1 RQ+ signal 2 RQ– signal 3 SD+ signal 4 SD– signal 5 P5 6 P5 7 GND 8 GND

Connector: RM15WTR-8P (Hirose) ･･････････CON1, CON2 RM15WTR-12S (Hirose) ･････････CON3 RM15WTR-10S (Hirose) ･････････CON4


1 A phase signal 2 REF signal 3 B phase signal 4 REF signal 5 P24 6 MOH signal 7 P5 8 P5 9 TH signal

10 GND


1 A+ phase signal 2 A– phase signal 3 B+ phase signal 4 B– phase signal 5 Z+ phase signal 6 Z– phase signal 7 RQ+ signal 8 RQ– signal 9 SD+ signal

10 SD– signal 11 P5 12 GND


1 RQ+ signal 2 RQ– signal 3 SD+ signal 4 SD– signal 5 P5 6 P5 7 GND 8 GND

2

1

3 4

5

6

7

8

8

7

6

5 4

3

2

1 9

12

11 10

CON1 CON2

CON3 CON4

1

2

3

4 5

6

7

8

9

10


6–7

6-3 Pole detection unit 6-3-1 Outline

Outline of MDS-B-MD (1) This unit detects the pole of the linear motor's secondary side magnet and outputs an analog

voltage. When using an incremental specification scale, always install this unit.

* Pole alignment when the power is turned ON will not be necessary. 6-3-2 Type configuration

MDS-B-MD type configuration MDS-B-MD-

Protection format class No symbol: IP65 P: IP67 (Outline shape class)*1 0: Current part Pole pitch class 60: 60mm pole pitch

*1 This is a class reserved for future use. Currently there is only one type. 6-3-3 List of specifications

Pole detection unit type Unit

MDS-B-MD-600 MDS-B-MD-600P

Tolerable ambient temperature °C 0 to 55°C

Tolerable ambient relative humidity

% (RH) 90% (RH) or less (with no dew condensation)

Atmosphere No toxic gases

Tolerable vibration m/s2 98m/s2

Tolerable impact m/s2 294m/s2

Tolerable power voltage V 5VDC ± 5%

Max. heating amount W 1W or less

Weight kg 0.1kg or less

Protection type IP65 IP67


6–8

6-3-4 Outline dimensions

6-3-5 Explanation of connectors

Connector name Application Remarks CON1 Connection with scale I/F unit (MDS-B-HR)

Connector pin layout


1 A phase signal 2 REF signal 3 B phase signal 4 REF signal 5 TH signal 6 P5 7 P5 8 GND

Connector: RM15WTR-8P (Hirose) ･･････････CON1

33.1

9

10.5

5.5 35.5 10

15.5

29.5

5.5

2

1

3 4

5

6

7

8


6–9

6-3-6 Installation

(1) For LM-NP2 type linear motor

35.53.

5013.0

44.0

0

29.5

2.50

12.5

5.512.0

1.0

51.07.0

(2) For LM-NP4 type linear motor

35.523.5

51.0

29.5

12.5

12.0

18.0

16.0

1.5

1.0

15.0

2.50

44.0

0

9.0

10.5033.10

* View from side (Same for both linear motor types.)

7–1

Chapter 7 Installation

7-1 Installation of the linear servomotor.......................................................... 7-2 7-1-1 Environmental conditions..................................................................... 7-3 7-1-2 Installing the linear servomotor ............................................................ 7-3 7-1-3 Cooling of linear servomotor ................................................................ 7-4 7-2 Installation of the servo amplifier............................................................... 7-5 7-2-1 Environmental conditions..................................................................... 7-5 7-2-2 Drive section wiring system diagram.................................................... 7-6 7-2-3 Installing the unit .................................................................................. 7-7 7-2-4 Layout of each unit............................................................................... 7-8 7-2-5 Main circuit connection ........................................................................ 7-9 7-2-6 Connection of feedback cable.............................................................. 7-11 7-2-7 Link bar specifications.......................................................................... 7-12 7-2-8 Separated layout of units ..................................................................... 7-13 7-2-9 Installing multiple power supply units................................................... 7-14 7-2-10 Installation for 2ch communication specifications with CNC, and

installation of only one power supply unit........................................... 7-16 7-2-11 Connection of battery unit .................................................................. 7-17 7-2-12 Connection with mechanical brakes................................................... 7-18


7–2

CAUTION

1. The linear servo system uses a powerful magnet on the secondary side. Thus, caution must be taken not only by the person installing the linear motor, but also the machine operators. For example, persons wearing a pacemaker, etc., must not approach the machine.

2. The person installing the linear motor and the machine operator must not have any items (watch or calculator, etc.) which could malfunction or break due to the magnetic force on their body.

3. Always use nonmagnetic tools for installing the linear motor or during work in the vicinity of the linear motor. (Example of nonmagnetic tool)

Explosion-proof beryllium copper alloy safety tool: Nihon Gaishi 4. Install the servo amplifier or motor on noncombustible material. Direct

installation on combustible material or near combustible materials could lead to fires.

5. Follow this Instruction Manual and install the unit in a place where the weight can be borne.

6. Do not get on top of or place heavy objects on the unit. Failure to observe this could lead to injuries.

7. Always use the unit within the designated environment conditions. 8. The servo amplifier and linear servomotor are precision devices, so do not

drop them or apply strong impacts to them. 9. Do not install or run a servo amplifier or linear servomotor that is damaged

or missing parts. 10. When storing for a long time, please contact your dealer.

7-1 Installation of the linear servomotor

CAUTION

1. Securely fix the linear servomotor onto the machine. Incomplete fixing could cause the servomotor to come off during operation, and lead to injuries.

2. The motor must be replaced when damaged. (The connectors, cooling ports, etc., cannot be repaired or replaced.)

3. Use nonmagnetic tools during installation. 4. An attraction force is generated in the magnetic body by the secondary

side permanent magnet. Take care not to catch hands. Take special care when installing the primary side after the secondary

side. 5. Install the counterbalance and holding brakes for the vertical axis on the

machine side. The balance weight cannot track at 9.8m/s2 or more, so use a pneumatic counterbalance, etc., having high trackability.

6. Always install an electrical and mechanical stopper at the stroke end. 7. Take measure to prevent iron-based cutting chips from being attracted to

the secondary side permanent magnet. 8. Oil-proofing and dust-proofing measures higher than for the motor must

be taken for the linear scale.

POINT

1. Make the machine's rigidity as high as possible. 2. Keep the moving sections as light as possible, and the base section as

heavy and rigid as possible. 3. Securely fix the base section onto the foundation with anchor bolts. 4. Keep the primary resonance frequency of the entire machine as high as

possible. (Should be 200Hz or more.) 5. Install the motor so that the thrust is applied on the center of the moving

sections. If the force is not applied on the center of the moving parts, a moment will be generated.

6. Use an effective cooling method such as circulated cooling oil. 7. In consideration of the cooling properties, select a motor capacity that

matches the working conditions. 8. Create a mechanism that can withstand high speeds and high

acceleration/deceleration.


7–3

7-1-1 Environmental conditions Environment Conditions

Ambient temperature 0°C to +40°C (with no freezing) Ambient humidity 80% (RH) or less (with no dew condensation) Storage temperature –15°C to +50°C (with no freezing) Storage humidity 90% (RH) or less (with no dew condensation) Atmosphere Indoors (Where unit is not subject to direct sunlight)

With no corrosive gas, combustible gas or dust Vibration 49m/s2 or less

7-1-2 Installing the linear servomotor

(1) Installing the primary side 1) Dimensions for tie-in with secondary side

A0.1

0.10.1 A

Primary side center

Secondary side center

0.5[mm] or less

H±0

.1[m

m]

∗1. The H dimensions indicate the (primary side height dimensions) + (secondary side height

dimensions) + (clearance length: 0.5[mm]).

2) Example of the installation procedures An example of the installation procedures is shown below.

3. Moving over secondary side where primary side is installed.

1. Installing secondary side (part)

1. Installing primary side where there is no secondary side

4. Installing remaining secondary side

CAUTION

1. Installing the primary side where there is no secondary side, as shown above, is recommended to avoid risks posed by the attraction force of the permanent magnet between the primary side and secondary side.

2. If the primary side must be installed over the secondary side, use a material handling device, such as a crane, which can sufficiently withstand the load such as the attraction force.

3. Note that an attraction force will be generated even after the primary side has been installed and is moved over to the secondary side.

Primary side center LM-NP2 : Center of installation screw pitch LM-NP4 : Installation screw at center position


7–4

(2) Installation of secondary side 1) Direction

When using multiple secondary sides, lay the units out so that the nameplates on the products all face the same direction in order to maintain the pole arrangement.

Nameplate

2) Procedures Install with the following procedure to eliminate clearances between the secondary sides.

Secondary side used asinstallation reference.

1. Press against.2. Fix with bolt.

CAUTION

1. Use nonmagnetic tools when installing the secondary side. 2. When placing the secondary side onto the installation surface, use the

screws on the product, and suspend with eye bolts, etc. 3. If the secondary side is already installed and another secondary side is

being added, place the secondary side away from the side already installed, and then slide the additional secondary side to the specific position.

7-1-3 Cooling of linear servomotor

(1) A cooling pipe is embedded on the primary side of the linear motor, so flow at least 5 liters of cooling oil per minute.

(2) When using with natural cooling, the continuous rating will be 50% compared to when using

cooling oil.


7–5

7-2 Installation of the servo amplifier

CAUTION

1. Always observe the installation directions. Failure to observe this could lead to faults.

2. Secure the specified distance between the servo amplifier and control panel, or between the servo amplifier and other devices. Failure to observe this could lead to faults.

3. Do not let conductive objects such as screws or metal chips, etc., or combustible materials such as oil enter the servo amplifier or servomotor.

4. Do not block the servo amplifier intake and outtake ports. Doing so could lead to failure.

7-2-1 Environmental conditions

Environment Conditions Ambient temperature 0°C to +55°C (with no freezing) Ambient humidity 90% (RH) or less (with no dew condensation) Storage temperature –15°C to +70°C (with no freezing) Storage humidity 90% (RH) or less (with no dew condensation) Atmosphere Indoors (Where unit is not subject to direct sunlight)

With no corrosive gas, combustible gas, oil mist or dust Altitude 1000m or less above sea level Vibration 5.9m/s2 or less

CAUTION

1. The ambient temperature condition for the servo amplifier is 55°C or less. Because heat can easily accumulate in the upper portion of the amplifier, give sufficient consideration to heat dissipation when designing the power distribution panel. If required, install a fan in the power distribution panel to agitate the heat in the upper portion of the amplifier.

2. If a servo amplifier fault should occur, turn OFF the power on the servo amplifier's power supply side.

3. Shut off the power with the error signal. Failure to do so could cause the regenerative resistor to abnormally overheat and fires to occur due to faults in the regenerative transistor, etc.

4. Always install the MDS-B-CV-370 external contactor. Do not use the external contactor with other CV power supply units. Failure to observe this could lead to damage.

5. The MDS-B-V14L-110/150 do not have built-in dynamic brakes. Always use the external dynamic brake unit.


7–6

7-2-2 Drive section wiring system diagram

Wire the power supply and main circuit as shown below. Always use a no-fuse breaker (NF) on the power supply input wire.

Note 1: Each unit is provided with an earth

bar. Do not tighten the grounding bar together with the other wires. Instead, wires as shown on the right.

Note 2: If there are noise-generating devices (contactor, magnetic brakes, relay) near the power supply or drive unit and the drive unit could malfunction, reduce the generated noise by installing a surge killer on the noise-generating device.


7–7

7-2-3 Installing the unit

(1) Each unit is designated to be installed in a cabinet such as a power distribution panel. Avoid installing the unit where it will be subject to direct sunlight, or near heating elements.

(2) Keep the environmental conditions (temperature, humidity, vibration, atmosphere) in the cabinet

within the limits given in the "Specifications for each unit". Always use a sealed structure for the cutting machine cabinet.

(3) Make sure that maintenance, inspections and replacements can be done easily. The space

required around each unit is indicated in the outline dimension drawings. (4) Each unit generates a set amount of heat. Thus, install the other devices and parts with a space to

the top and bottom so that heat does not accumulate. Refer to the outline drawing for the rectangular hole dimensions. In this case, place packing between the power distribution panel and unit. Refer to the following installation example for installing the servo amplifier.

P o w e r d is tr ib u tio n p an e l

F ro n t B a ck

4 0

40

40

P o w e r d is tr ib u tio n p a n e l4 0

40

F ilte r

In ta k esec tio n

Example 1. Example 2. Secure an air ventilation area when When the outside air cooling section is the machine surface is behind protruding outside the power distribution the power distribution panel. panel, make sure that cutting chips will not enter the discharge section.

CAUTION

1. Install a filter on the intake section when installing in a poor environment (factory with high levels of oil mist, etc.).

2. When assembling the control panel, make sure that the cutting chips from the drill, etc., do not enter the amplifier.

3. Make sure that oil, water and metal cutting chips do not enter the amplifier from the clearances of the control panel or the ceiling fan.

4. When using the unit in a place containing toxic gas or high levels of dust, protect the amplifier with air purging (feed clean air from outside to increase the storage panel's inner pressure above the outer pressure and prevent the entry of toxic gas and dust).


7–8

(5) Installing the cooling fan 1) Each unit (excluding type without fins) is provided with a cooling fan (FAN1 below). However,

to maintain operation when the fan stops due to deterioration of the fan's ambient environment, and to improve the serviceability, the user should install an additional fan (FAN2 below).

When using the sealed type unit installation method and the panel structure could easily allow cutting oil or dust to enter from the unit's fin and fan section (in other words, when the fan could stop due to the ambient environment), the user should add a fan at the position shown as FAN2 on the right. Carry out forced cooling with a velocity of 2m/s or more. The serviceability must also be considered in this case.

2) Due to the structure, heat will easily accumulate in each unit. Thus, install a fan in the power distribution panel to agitate the heat at the top of the unit.

7-2-4 Layout of each unit

Principally, the following layout is used as the standard.

1) When total of spindle motor output and servomotor output is 38kW or less

Servodrive unit

2) When total of spindle motor output and servomotor output is 38kW or more

(Note) As a principle, keep the clearance between each unit at 3cm or less. If the clearance between the spindle drive unit and servo drive unit must be 3cm or more,

observe the conditions given in section 7-2-8.

CAUTION

Always connect the L+ and L– link bars of power supply No. 1 and No. 2 independently.

∞ ∞

Inside panel

Outside panel

Wind direction FAN1

(Mounted as a standard on unit) FAN2 (Additionally installed by user) ... Install a finger cover for safety purposes.

L+

L–

L1+ L1–

Power supply unit

Spindle drive unit

L+

L– L1+ L1–

Power supply unit No.1

Spindle drive unit

Servo drive unit

Power supply unit No.2


7–9

7-2-5 Main circuit connection

CAUTION

1. Always provide Class 3 grounding or higher for the servo drive unit and servomotor.

2. Correctly connect the power phases (U, V, W) of the servo drive unit and servomotor. Failure to do so could cause the servomotor to abnormally operation.

3. Do not apply a non-designated voltage on each terminal. Failure to observe this could lead to ruptures or trouble.

MC

NF

For control circuit power supply (RS)

8 8 8 8 8 8

Servo drive unit(one axis)MDS-B-V14L

Spindle drive unit(one axis)MDS-B-SP

Power supplyunitMDS-B-CV

Linear servomotor primary side

Linear scale

Detector cable

L+L– L11L21

U V W L1 L2 L3

Spindle motor

U V W

MC

3ø 200VAC formain circuit

power supply50/60Hz

Contactor

U V WE

RST

AC reactor

Cabinetground-ing


7–10

Precautions for connections (1) Each unit is provided with an earth bar. Do not tighten the grounding bar together with the other

wires. (2) The wires and crimp terminals used differ according to the motor capacity. (3) Always ground the power supply. (4) The phase order of the power supply's power terminals (L1, L2, L3) is random. (5) Always observe the phase order relation of the servo drive terminals U, V, W and the linear motor

terminals U, V, W. If the phase order is mistaken, the motor could vibrate or move suddenly. (6) Never connect wires that could apply power to the servo drive output terminals U, V, W. The

servo drive unit could be damaged. (7) The cannon plug used differs according to the motor. Confirm that the specified power is

connected to the servo drive's power terminals (L1+, L2+). Use a transformer if the power is not as specified.

(8) Do not apply a commercial power supply onto the motor. (9) Refer to the connection diagram and confirm that the wiring is correct.


7–11

7-2-6 Connection of feedback cable

Peel the sheath of the feedback cable where indicated below to expose the shield cover. Ground this section with a cable clamp, etc. Normally, only the cable to which the scale is connected is grounded on the servo amplifier side or I/F unit side. However, if the distance between the servo amplifier and scale I/F unit is 5m or more, also ground this cable.

CNCMDS-B-V14L MDS-B-V14L

MDS-B-MD

Scale I/F unit

Incremental linear scaleAbsolute position linear scale (AT342 special)

Absolute position linear scale

CON2

CON3

CON4

CN

1AC

N1B

CN

4C

N2

CN

3

CN

1AC

N1B

CN

4C

N2

CN

3

<Required>Peel the clamp sheath at apoint near the servoamplifier, and ground with acable clamp.

<Required>Peel the cable sheath at a point nearthe I/F unit, and ground with a cableclamp.

<Required depending onconditions>If the distance between the servoamplifier and scale I/F unit is 5mor more, peel the cable sheath ata point near the servo amplifier,and ground with a cable clamp.This also applies whenconnecting the scale I/F unit toCON1.

CON1


7–12

7-2-7 Link bar specifications

The link bar specifications are shown below.

Wire usage Terminal block Details

L+, L– Not possible M6 screw Connection wire for supplying the converter DC voltage from the power supply unit to each drive unit.

L1+, L1– Possible M4 screw Connection wire for supplying control power 200VAC to 230V to each unit.

<Remarks> Connection outline diagram

L+

L–L1+

L1–

A-SPB-SP

A-V1/V2B-V1/V2

B-V14/V24B-V14L

A-CVB-CV

Note) Mount the terminal cover after completing the wiring shown on the left. The terminal cover is provided for each unit width. Refer to "Chapter 3 Selection" when selecting the wire size.


7–13

7-2-8 Separated layout of units

When installing the units vertically, avoid separating the MDS-B-V14L linear scale compatible drive unit and power supply unit (A/B-CV), and the spindle drive unit (A/B-SP) and power supply unit (A/B-CV). In the same manner, do not separate the 11kW or more standard servo drive unit (MDS-B-V1). If both a spindle drive unit and 11kW or more standard drive unit (MDS-B-V1, V14L) are being used, lay out the units and power supply unit with the following priority. V1 (V14L) – 150 > V1 (V14L) – 110 > SP – 300> SP – 260> SP – 220> SP – 185> SP – 150> ･･･ As shown in the following example, the 9kW or less standard servo drive unit (MDS-B-V1/V2/V14/V24/V14L) can be installed vertically. However, the length of the relay link bar must be 50cm or less, and two bars must be bundled.

B-V14/V24B-V14L

A-SPB-SP

A-CVB-CV

L+

L–

L1+

L1–

L+

L–

L1+

L1–

A-V1/V2B-V1/V2

Wiri

ng le

ngth

50c

m o

r les

s

(Note) The above details also apply when separately installing the units to the left and right.


7–14

7-2-9 Installing multiple power supply units

(1) When not sharing a contactor The following system will be explained here as a main example of installing multiple power supply units without sharing a contactor. This same connection is used in other systems using multiple supply units.

CN

1AC

N1B

CN

4

CN

1AC

N1B

CN

4

NCB-V14LB-V14/V24

CH1

CH2

CN

1AC

N1B

CN

4

CN

1AC

N1B

CN

4

CN

4C

N9

L+, L–

L1+. L1–

MC1

AC reactor(A/B-AL)

Contactor

NFB1

200VAC

1

B-V14LB-V14/V24

B-V14LB-V14/V24

A-SPB-SP

A-CV(NO.2)B-CV

2

3

465

CN

4C

N9

L+, L–

L1+, L1–

MC1

A-CV(NO.1)B-CV

MC MC

AC reactor(A/B-AL)

Contactor

CAUTION

Always use this wiring when using the MDS-B-CV-370. The MDS-B-CV-370 has a different rush circuit and contactor operation sequence from the other power supply units (A/B-CV), so the contactor must be installed independently. The unit could be damaged if the contactor is omitted, or if the contactor is shared with other power supply units.

1. Connection of CNC communication cable Connect with the 1 to 4 line shown above. 2. Connection of communication cable between drive unit and power supply unit As shown above, connect the 5 cable to power supply unit No. 1 and the 6 cable to power

supply unit No. 2. 3. Connection of L+, L–, L1+, L1– As shown above, connect the link bar for the power supply unit No. 1 and power supply unit

No. 2 independently. Do not short circuit both link bars and connect. 4. Connection of AC reactor Independently install one AC reactor for each power supply unit. 5. Connection of contactor When using the MDS-B-CV-370, the contactors cannot be shared, so install each

independently as shown above.


7–15

(1) When not sharing a contactor The following system will be explained here as a main example of installing multiple power supply units sharing one contactor. This same connection is used in other systems using multiple supply units. When the contactor is shared, set the power supply unit on the side where the contactor is not controlled as "no contactor". In this case, some alarms (ground fault, external contactor fusing) will be invalidated.

CN

1AC

N1B

CN

4

CN

1AC

N1B

CN

4

NCB-V14LB-V14/V24

CH1

CH2

CN

1AC

N1B

CN

4

CN

1AC

N1B

CN

4

CN

4C

N9

L+, L–

L1+, L1–

MC1

AC reactor(A/B-AL)

Contactor

NFB1

200VAC

1

B-V14LB-V14/V24

B-V14LB-V14/V24

A-SPB-SP

A-CV(NO.2)B-CV

2

3

465

CN

4C

N9

L+, L–

L1+, L1–

MC1

A-CV(NO.1)B-CV

MC MC

AC reactor(A/B-AL)

Contactor

1. Connection of contactor and AC reactor As shown above, control is possible by using one contactor in a batch for the power supply

unit No. 1 and power supply unit No. 2. Note that one AC reactor must be installed for each power supply unit.

2. Connection of MC1 terminal (power supply unit) When controlling multiple power supply units with a batch contactor, connect the contactor

coil excitation terminal (MC1) only to the power supply unit (A/B-CV (No. 1) in drawing) connected to the last axis.


7–16

7-2-10 Installation for 2ch communication specifications with CNC, and installation of only one power supply unit. (2-system control)

In this example, the following systems are explained. The same connection is used for other 2ch systems.

• CH1: B-V14/V24/V14L + B-V14/V24/V14L • CH2: B-V14/V24/V14L + A/B-SP

NCB-V14LB-V14/V24

CN

1AC

N1B

CN

4CH1

CH2

CN

1AC

N1B

CN

4

CN

1AC

N1B

CN

4

CN

1AC

N1B

CN

4

CN

4C

N9

L+, L–

L1+, L1–

MC1

MC

AC reactor(A/B-AL)

ContactorNFB1

200VAC

1

B-V14LB-V14/V24

B-V14LB-V14/V24

A-SPB-SP

A-CVB-CV

2

3

4

6

5

(1) Connection of CNC communication cable

1. CH1 Connect with the 1 to 2 line shown above. 2. CH2 Connect with the 3 to 4 line shown above.

(2) Communication cable between drive unit and power supply unit

1. CH1 Connect to the 5 line from the CH1 final axis (B-V14/V24/V14L in drawing) as shown above. 2. CH2 Connect to the 6 line from the CH1 final axis (A/B-SP in drawing) as shown above.

Note: The above usage method cannot be used for the MDS-A-CR (regenerative resistor type power supply).


7–17

7-2-11 Connection of battery unit

When using the absolute rotary encoder (OSA104, OSA105, etc.) with the linear servo system, the battery unit must be used. When using an absolute linear scale such as LC191M (Heidenhain) or AT342 (Mitsutoyo) with the normal linear servo system, the battery unit is not required.

(1) Without battery unit

(2) With battery unit

The battery unit type is as shown below according to the battery capacity (No. of connected units). Select so that the No. of absolute rotary encoders (OSA104, OSA105) is less than the battery unit capacity.

MDS-A-BT- 2 4 6 8

The last number of the type indicates the battery unit capacity (No. of connected units).


7–18

7-2-12 Connection with mechanical brakes

Mechanical brake (magnetic brake) contact connection terminal (EM1, EM2) A brake terminal is provided on the MDS-B-V14L servo driver. When controlling mechanical brakes using this terminal, connect the magnetic brake cable to the CN20 connector.

(1) Brake contact specifications

Item Specifications Rated control capacity (resistance load) (AC) 8A 250V/(DC) 5A 30V Max. tolerable contact power (resistance load)

2000VA 150WA

Max. tolerable contact voltage/current (AC) 380V/8A

(2) Example of brake contact connection 1) For AC OFF

2) For DC OFF VAR: Surge absorber (220V)

CAUTION

While the DC OFF is valid when the braking delay time is a problem, the contact’s DC shut off capacity and the occurrence of error signals for CNC must be confirmed. Observe the following points.

1. Provide sufficient contact DC shut off capacity. 2. Use a surge absorber.

28VAC

SW

Rectifier

CN20

1 MDS-B-V14L

3

Brake excitation

EM2

Brake excitation

28VAC Rectifier

CN20

1 MDS-B-V14L

3 EM1

EM2 RA1

VAR

EM1 RA1

8–1

Chapter 8 Drive Section Connector and Cable Specifications

8-1 Cable connection system............................................................................ 8-2 8-1-1 Cable option list ................................................................................... 8-3 8-2 Cable connectors......................................................................................... 8-5 8-2-1 Servo amplifier CN1A, CN1B and CN9 cable connector...................... 8-5 8-2-2 Servo amplifier CN2 and CN3 cable connector.................................... 8-5 8-2-3 Servo amplifier CN20 connector (for mechanical brakes).................... 8-5 8-2-4 MDS-B-HR, MDS-B-MD cable connector ............................................ 8-6 8-2-5 Power supply section power wire connector ........................................ 8-7 8-2-6 Flexible conduits .................................................................................. 8-10 (1) Method for connecting to a connector with back shell.................... 8-10 (2) Method for connecting to the connector main body ....................... 8-10 8-3 Cable clamp fitting....................................................................................... 8-11 8-4 Cable wire and assembly ............................................................................ 8-12 8-5 Cable connection diagram .......................................................................... 8-13 8-5-1 CNC unit bus cable .............................................................................. 8-13 8-5-2 Absolute value scale coupling cable .................................................... 8-14 8-5-3 Cable for amplifier – scale I/F unit........................................................ 8-15 8-5-4 Cable for scale I/F unit – scale............................................................. 8-16 8-5-5 Cable for scale I/F unit – pole detector ................................................ 8-17 8-5-6 Cable for I/F unit – motor thermal ........................................................ 8-17 8-5-7 Mechanical brake cable ....................................................................... 8-18


8–2

8-1 Cable connection system

The cables and connectors shown below are those that can be ordered from Mitsubishi. Only the cable lengths designated in the table on the next page and following pages can be ordered. If cables with a special length are required, the user should purchase the connector set, etc., and manufacture the cables.

12

NCMDS-B-V14L MDS-B-V14L MDS-B-CVE

MDS-B-MD

MDS-B-HR

1 1

CON2

CON3

CON4

CN

1AC

N1B

CN

4C

N2

CN

3

CN

1AC

N1B

CN

4C

N2

CN

3

CN

4

to CN1A

to CN2

to CN1A

to CN2

to CN1B to CN1B

to CN4 to CN4

CNLH4MD-S

CNLH3S-S

CNL2H2-S

CNL2S-S

Incremental linear scaleAbsolute position linear scale (AT342)

Absolute position linear scale

4

3

5

6


8–3

8-1-1 Cable option list

Part name Type Descriptions (1) Communication cable for

CNC unit - Amplifier Amplifier - Amplifier Amplifier - Power supply

Servo amplifier side connector (Sumitomo 3M or equivalent) Connector : 10120-6000EL Shell kit : 10320-3210-000

Servo amplifier side connector (Sumitomo 3M or equivalent) Connector : 10120-6000EL Shell kit : 10320-3210-000

SH21 Length:

0.35, 0.5, 0.7, 1, 1.5, 2, 2.5, 3, 3.5, 4, 4.5, 5, 6, 7, 8, 9, 10, 15, 20, 30m FCUA-R000 and MR-JHBUS M can also be used.

Terminator connector

For CN1A, CN1B, CN4

(2) Terminator connector A-TM FCUA-A-TM can also be used.

Servo amplifier side connector (Sumitomo 3M or equivalent) Connector : 10120-3000VE Shell kit : 10320-52F0-008 (One-touch type) 10320-52A0-008 (Screw type)

(3) Scale coupling cable CNL2S - No - One-touch type

S - Screw type lock Length:

2, 5, 10, 20, 30m

CNL2H2 -

No - One-touch type S - Screw type lock Length:

2, 5, 10, 20, 30m

Servo amplifier side connector (Sumitomo 3M or equivalent) Connector : 10120-3000VE Shell kit : 10320-52F0-008 (One-touch type) 10320-52A0-008 (Screw type)

Interface unit side connector (Hirose) Connector: RM15WTP-8S Clamp: RM15WTP-CP (10)

For CN2, CN3

(4) Cable for amplifier -I/F unit

(5) Cable for I/F unit - scale CNLH3S

Length: 2, 5, 10, 20, 30m

Interface unit side connector (Hirose) Connector: RM15WTP-12P Clamp: RM15WTP-CP (10)

Interface unit side connector (Hirose) Connector: RM15WTP-10P Clamp: RM15WTP-CP (10)

Pole detector side connector (Hirose) Connector: RM15WTP-8S Clamp: RM15WTP-CP (10)

(6) Cable for I/F unit – magnetic pole detector

CNLH4MD Length:

2, 5, 10, 20, 30m

Servo amplifier side (Sumitomo 3M or equivalent)

For I/F unit

(7) Cable for Amplifier - signal branch unit

CNV22A - No - One-touch type

S - Screw type lock Length:

2, 5, 10, 20, 30m

Connector: 10120-3000VE Shell kit : 10320-52F0-008 (One-touch type) 10320-52A0-008 (Screw type)

Connector: 10120-3000VE Shell kit : 10320-52F0-008 (One-touch type) 10320-52A0-008 (Screw type)


8–4

Part name Type Descriptions Servomotor side power supply

connector (DDK) Connector : CE05-6A22-23SD-B-BSS Clamp: CE3057-12A-2 (D265)

Straight PWCE22-23S Compliant cable range ø9.5 to ø13

Servomotor side power supply

connector (DDK) Connector : CE05-8A22-23SD-B-BAS Clamp: CE3057-12A-2 (D265)

IP67 and EN standard compati-ble

Angle PWCE22-23L Compliant cable range ø9.5 to ø13


connector (DDK) Connector : MS3106B22-23S Clamp: MS3057-12A

Straight FCUA-CN802



Power supply connector for LM-NP2S LM-NP2M LM-NP2L

For general environ-ment

Angle FCUA-CN806


connector (DDK) Connector : CE05-6A24-10SD-B-BSS Clamp: CE3057-16A-2 (D265)

Straight PWCE24-10S Compliant cable range ø13 to ø15.5


connector (DDK) Connector : CE05-8A24-10SD-B-BAS Clamp: CE3057-16A-2 (D265)

IP67 and EN standard compati-ble

Angle PWCE24-10L Compliant cable range ø13 to ø15.5



Straight FCUA-CN803



Power supply connector for LM-NP4S LM-NP4M LM-NP4L


Angle FCUA-CN807



Straight



For motor power supply

Power supply connector for LM-NP4G


Angle


8–5

8-2 Cable connectors 8-2-1 Servo amplifier CN1A, CN1B and CN9 cable connector

Maker: Sumitomo 3M <Type> Connector: 10120-6000EL Shell kit: 10320-3210-000 There is no option setting with this connector. This is a part integrally formed with the cable.

[Unit: mm]

20.9

29.7

33.0 42.

011

.5

8-2-2 Servo amplifier CN2 and CN3 cable connector

Maker: Sumitomo 3M <Type> Connector : 10120-3000VE Shell kit : 10320-52F0-008 (One-touch type) 10320-52A0-008 (Screw type)

[Unit: mm]

22.0

33.3 12.7

14.0

12.0

39.

0

23.

8

10.0

8-2-3 Servo amplifier CN20 connector (for mechanical brakes)

Maker: Sumitomo 3M <Type> Connector: 1-178128-3 Contactor : 1-178128-2

[Unit: mm]


8–6

8-2-4 MDS-B-HR, MDS-B-MD cable connector

Maker: Hirose [unit:mm]

RM15WTP- M19×1 M16×0.75

36.8

ø15.

2

ø23

RM15WTP－CP( )

ø19

M16×0.75

8.5 20

øA

I/F unit connector

Product name øA Applicable cable diameter

RM15WTP-CP (5) 6.5 5 RM15WTP-CP (6) 6.5 6 RM15WTP-CP (7) 8 7 RM15WTP-CP (8) 10.5 8 RM15WTP-CP (9) 10.5 9 RM15WTP-CP (10) 10.5 10

I/F unit connector RM15WTP-8S CON1,

CON2 RM15WTP-CP ( ) RM15WTP-12P

CON3 RM15WTP-CP ( ) RM15WTP-10P

CON4 RM15WTP-CP ( )

Pole detector connector

RM15WTP-8S CNM1

RM15WTP-CP ( )

Note: The cable diameter is indicated in .


8–7

8-2-5 Power supply section power wire connector

Straight plug Maker : DDK (Ltd.)

[Unit: mm]

Type A B +0−0.38 C±0.8 D or

less W

CE05-6A22-23SD-B-BSS 13/8-18UNEF-2B 40.48 38.3 61 13/16-18UNEF-2A CE05-6A24-10SD-B-BSS 11/2-18UNEF-2B 43.63 42.0 68 17/16-18UNEF-2A

Angle plug Maker : DDK (Ltd.)

[Unit: mm]

Type A B

+0−0.38

D or less W R±0.7 U±0.7 (S)±1 Y or

more

CE05-8A22-23SD-B-BAS 13/8-18UNEF-2B 40.48 75.5 13/16-18UNEF-2A 16.3 33.3 49.6 7.5

CE05-8A24-10SD-B-BAS 11/2-18UNEF-2B 43.63 86.3 17/16-18UNEF-2A 18.2 36.5 54.7 7.5

Cable clamp Maker : DDK (Ltd.)

[Unit:mm]

Total length

Outside dia.

Effective screw length

Type Shell

size A B C D E F G H

Installation screws (V) Bushing Compliant

cable

CE3057-12A-2 (D265) 13 CE3420-12-2 ø9.5 to ø13

CE3057-12A-3 (D265) 20, 22 23.8 35 10.3 41.3 19

10 37.3 4 13/16-18UNEF-2B

CE3420-12-3 ø6.8 to ø10

CE3057-16A-2 (D265) 24 26.2 42.1 10.3 41.3 23.8 15.5 42.9 4.8 17/16-18UNEF-2B CE3420-16-2 ø13 to ø15.5

D or less 7.85 or more

W A

øC±0

.8

-0.

38

+0

øB

D or less

R ± 0

.7

U ± 0

.7

（S ）

±1

Yor m

ore

W

A

-0.

38

+0

øB

(Moveable range of one side)

øE (Cable clamp inside diameter) H

G±0

.7

A

V screw C

1.6

Bush

ing

(insi

de

diam

eter

) øF

D

B±0.

7


8–8


[Unit: mm]

Type A B +0−0.38 C±0.5 D E±0.3 G +0.05

−0.25 J±0.12

MS3106A10SL-4S (D190) 5/8-24UNEF-2B 22.22 23.3 9/16-24UNEF-2A 7.5 12.5 13.49 MS3106A22-14S (D190) 13/8-18UNEF-2B 40.48 34.11 11/4-18UNEF-2A 12.15 29.9 18.26

Straight back shell Maker : DDK (Ltd.)

Angle back shell Maker : DDK (Ltd.) Type : CE-22BA-S

[Unit:mm]

Cable clamp Maker : Daiwa (Ltd.)

[Unit:mm] Length before

tightening Side to side

Corner to corner Type

Accommodating outside

diameter

American standard screw

thread Aø L L1 L2 D D1 D2

YSO10-5 to 8, YLO10-5 to 8 ø5 to 8.3 9/16-24UNEF-2B 43 39 42.5 24 26 26

-0.

25

+0.

05

øG

J±0.12

E±0.3

C±0.5

Gasket

D H or less

A

-0.

38

+0

øB

13/16-18UNEF-2A screw

ø17 .8

ø36 . 5

35 10.9

11/4-18UNEF-2B screw O-ring

7.85 or more (Effective screw length)

32.4 (spanner grip)

ø38.

6

50.5 or less 39.6 or less

16.3

(49.

6)

7.5

or m

ore

33.3

11/4-18UNEF-2B screw

13/16-18UNEF-2A screw

O-ring

L1

D2 A0

O-ring

L2

YLO

L

A0 O-ring

D（D

1）

YSO


8–9


[Unit: mm]

Coupling screw

Length of coupling section

Total length

Connection nut outside

diameter

Cable clamp installation

screw

Effective screw length

Max. width Type

A J ± 0.12 L or less øQ+0

−0.38 V W or more

Y or less

MS3106B22-23S 13/8-18UNEF 18.26 55.57 40.48 13/16-18UNEF 9.53 50

MS3106B24-10S 11/2-18UNEF 18.26 58.72 43.63 17/16-18UNEF 9.53 53 Angle plug Maker : DDK (Ltd.)

[Unit: mm]

Coupling screw

Length of coupling section

Total length

Connec-tion nut outside

diameter

Cable clamp installation

screw

Effective screw length Type

A J ± 0.12 L or less øQ+0

−0.38 R±0.5 U±0.5 V W or more

MS3108B22-23S 13/8-18UNEF 18.26 76.98 40.48 24.1 33.3 13/16-18UNEF 9.53 MS3108B24-10S 11/2-18UNEF 18.26 86.51 43.63 25.6 36.5 17/16-18UNEF 9.53

W or more

L or less J±0.12

A

V

Y or

less

-0.

38

+0

øQ

J±0.12 L or less

A R±0

.5

U±0

.5

W o

r m

ore V

-0.

38

+0

øQ


8–10

8-2-6 Flexible conduits Basically, splash proofing can be ensured if cab-tire cable and connectors with IP65 or higher specifications are used. However, to further improve the oil resistance (chemical resistance to oil), weather resistance (resistance to the environment when used outdoors, etc.), durability, tensile strength, flattening strength, etc., run the cable through a flexible conduit when wiring. The following shows an example of a flexible conduit. Contact the connector maker for more information.

(1) Method for connecting to a connector with back shell

Cable

Connector withback shell Flexible conduit

Connectorfor conduit

Type DDK Japan Flex Application Applicable motors

Connector (straight)

Connector (angle)

Connector for conduit Flexible conduit

RCC-104CA2022 VF-04 (Min. inside dia.: 14) For LM-NP2S LM-NP2M LM-NP2L

CE05-6A22-23SD-B-BSS

CE05-8A22-23SD-B-BAS RCC-106CA2022 VF-06 (Min. inside dia.: 19)

RCC-106CA2428 VF-06 (Min. inside dia.: 19) For power supply For

LM-NP4S LM-NP4M LM-NP4L

CE05-6A24-10SD-B-BSS

CE05-8A24-10SD-B-BAS

RCC-108CA2428 VF-08 (Min. inside dia.: 24.4)

(Note) None of the parts in this table can be ordered from Mitsubishi Electric Corp.

(2) Method for connecting to the connector main body

Cable

Flexible conduit Connectorfor conduit

Connector

Type DDK DAIWA DENGYO Co., Ltd. Application Applicable motors

Connector (straight) Connector for conduit Flexible conduit BOS-22-15 (Straight) BOL-22-15 (Angle)

MPF15 (Min. inside dia.: 14.2) For LM-NP2S LM-NP2M LM-NP2L

CE05-6A22-23SD-B BOS-22-19 (Straight) BOS-22-19 (Angle)

MPF19 (Min. inside dia.: 17.2)

BOS-24-19 (Straight) BOL-24-19 (Angle)


For power supply For

LM-NP4S LM-NP4M LM-NP4L

CE05-6A24-10SD-B BOS-24-25 (Straight) BOL-24-25 (Angle)


(Note) None of the parts in this table can be ordered from Mitsubishi Electric Corp.


8–11

8-3 Cable clamp fitting

Install a grounding plate near the servo amplifier or scale I/F unit (MDS-B-HR), peel part of the detector cable sheath to expose the shield coat, and press that section against the grounding plate with a cable clamp fitting. If the cable is thin, clamp several together.

Clamp section drawing The grounding plate D and cable clamp fittings A and B can be purchased from Mitsubishi.

Outline drawing of grounding plate (D) Outline drawing of cable clamp fitting

∗ Screw hole for wiring through cabinet to grounding plate • Always wire the grounding wire from the grounding plate

to the cabinet's grounding plate. • Two fittings A can be used.

L Fitting A 70 Fitting B 45


8–12

8-4 Cable wire and assembly

The following shows the specifications and processing of the wire used in each cable. Use the following recommended wires or equivalent part when manufacturing the cable, and make sure not to mistake the connection.

Core size

[mm2] × pair Core insulation

sheath type (Note) d [mm]

Recommended wire type

0.08 × 10 UL20276 AWG28 10pair (BLACK)

0.2 × 8 UL20276 AWG24 8pair (BLACK)

0.3 × 8

0.9 to 1.27

UL20276 AWG22 7pair (BLACK)

(Note) d is as shown below.

d

Securely connect the cable shield wire to the connector's ground plate as shown below.

Ground plate

SheathShield (external conductor)

Core wire

SheathShield (external conductor)

Core wire

Conductor Installation sheath

Core cross-section


8–13

8-5 Cable connection diagram

CAUTION Do not mistake the connection when manufacturing the detector cable. Failure to observe this could lead to faults, runaway or fires.

8-5-1 CNC unit bus cable

<SH21 cable connection diagram> This is an actual connection diagram for the SH21 cable supplied by Mitsubishi. Manufacture the cable as shown below.

1 11 2 12 3 13 4 14 5 15 6 16 7 17 8 18 9 19 10 20

PE

1 11 2 12 3 13 4 14 5 15 6 16 7 17 8 18 9 19 10 20

PE

Plate


8–14

8-5-2 Absolute value scale coupling cable

<CNL2S-S cable connection diagram> This is an actual connection diagram for the CNL2S-S cable supplied by Mitsubishi. The connection differs according to the cable length.

<Reference example 1. LC191M (Heidenhain)>

<Reference example 2. AT342 (Mitsutoyo)>

6 16 7 17 19 10 20

1 11

PE

SD SD* RQ RQ* P5(+5V) LG Plate

Amplifier side CN2, 3 Scale side 10120-3000VE

(20m or less) (20 to 30m)

6 16 7 17

19 10 20

1 11

PE


Amplifier side CN2, 3 Scale side 10120-3000VE

6 16 7 17 19 10 20

1 11

PE


Amplifier side Scale relay section

14 17 8 9

7 11

4 10

PE

6 16 7 17 19 10 20

1 11

PE


Amplifier side Scale relay section

5 6 7 8

１ 2

3 4

PE


8–15

8-5-3 Cable for amplifier – scale I/F unit

<CNL2H2-S cable connection diagram> This is an actual connection diagram for the CNL2H2-S cable supplied by Mitsubishi. The connection differs according to the cable length.

(15 to 30m)

6 16 7 17

19

10 20

1 11

PE

SD SD* RQ RQ* P5(+5V) P5(+5V) LG LG Case grounding

Amplifier side CN2, 3 Scale I/F unit side CON1, 2

3 4 1 2

5 6

7 8

FG

10120-3000VE RM15WTP-8S

(15m or less)

6 16 7 17

19 10 20

1 11

PE

SD SD* RQ RQ* P5(+5V) P5(+5V) LG LG Case grounding

Amplifier side CN2, 3 Scale I/F unit side CON1, 2

3 4 1 2

5 6

7 8

FG

10120-3000VE RM15WTP-8S


8–16

8-5-4 Cable for scale I/F unit – scale

<CNLH3S cable connection diagram> This is an actual connection diagram for the CNLH3S cable supplied by Mitsubishi. The connection differs according to the cable length.

<Reference example 1. AT342 (Mitsutoyo) connection example>

(15m or less)

Scale side Scale I/F unit side CON3

９ 10 7 8 1 2 3 4 5 6

11 12

PE

SD SD* RQ RQ* A+ A- B+ B- R+ R- P5(+5V) LG Case grounding

RM15WTP-12S

(15 to 30m)


9

10 7 8 1 2 3 4 5 6

11

12

PE

SD SD* RQ RQ* A+ A- B+ B- R+ R- P5(+5V) LG Case grouding

RM15WTP-12S

９ 10 7 8 1 2 3 4 5 6

11 12

PE

SD SD* RQ RQ* A+ A- B+ B- R+ R- P5(+5V) LG Case grounding


5 6 7 8 9 11 10 11

1 2 3 4

PE

RM15WTP-12P RM15WTP-21S


8–17

8-5-5 Cable for scale I/F unit – pole detector

<CNLH4MD cable connection diagram> This is an actual connection diagram for the CNLH4MD cable supplied by Mitsubishi.

8-5-6 Cable for I/F unit – motor thermal

CAUTION 1. Do not connect anything to pins unless particularly described when

manufacturing cable. (Leave OPEN.) 2. Contact Mitsubishi before manufacturing cable over 30m long.

1 2 3 4 9

7 8 10

PE

MA+ MA- MB+ MB- TH P5(+5V) P5(+5V) LG Case grounding

Pole detector side Scale I/F unit side CON4

1 2 3 4 5

6 7 8

PE

RM15WTP-8S RM15WTP-10P

24V MOH

5 6

Motor side

Scale I/F unit side CON4

G1 G2

24V 24G

External power supply

RM15WTP-10P


8–18

8-5-7 Mechanical brake cable

(1) 9kW or less mechanical brakes

(2) 11, 15kW mechanical brakes and dynamic brakes

１ 2 3

CN20

RA1

Amplifier side

Common

Dynamic brakes

Mechanical brakes

CN20

RA1

１

2

3

Amplifier side

9–1

Chapter 9 Setup

9-1 Initial setup of servo drive unit................................................................... 9-2 9-1-1 Setting the rotary switches................................................................... 9-2 9-1-2 Transition of LED display after power is turned ON ............................. 9-2 9-2 Setting the initial parameters...................................................................... 9-3 9-2-1 Setting the initial parameters................................................................ 9-3 (1) Command polarity/feedback polarity (SV017: SPEC) .................... 9-3 (2) Servo specifications (SV017: SPEC) ............................................. 9-4 (3) Ball screw pitch (SV018: PIT) ........................................................ 9-4 (4) Detector resolution (SV019: RNG1, SV020: RNG2) ...................... 9-4 (5) Motor type (SV025: MTYP)............................................................ 9-5 (6) Detector type (SV025: MTYP)........................................................ 9-6 (7) Power supply type (SV036: PTYP) ................................................ 9-7 9-2-2 Parameters set according to feedrate......................................................... 9-8 9-2-3 Parameters set according to machine movable mass.......................... 9-8 9-2-4 List of standard parameters for each motor ......................................... 9-9 9-3 Initial setup of the linear servo system...................................................... 9-10 9-3-1 Installation of linear motor and linear scale.......................................... 9-10 9-3-2 DC excitation function .......................................................................... 9-13 9-3-3 Setting the pole shift ............................................................................ 9-15 9-3-4 Setting the parallel drive system .......................................................... 9-17 9-3-5 Settings when motor thermal is not connected .................................... 9-18

Chapter 9 Setup

9–2

9-1 Initial setup of servo drive unit 9-1-1 Setting the rotary switches

Before turning ON the power, the axis No. must be set with the rotary switches. The rotary switch settings will be validated when the servo driver (servo drive unit) power is turned ON.

MDS-B-V14L

POINT

When an axis that is not used is selected, that axis will not be controlled when the power is turned ON, and "Ab" will remain displayed on the LED. If the power of the axis not in use is disconnected, the system's emergency stop cannot be released.

9-1-2 Transition of LED display after power is turned ON When the axis No. has been set and the servo driver power and CNC power have been turned ON, the servo driver will automatically execute self-diagnosis and initial settings for operation, etc. The LEDs on the front of the servo driver will change as shown below according to the progression of these processes. If an alarm occurs, the alarm No. will appear on the LEDs. Refer to "Chapter 11 Troubleshooting" for details on the alarm displays.

Rotary switch setting Set axis No. 0 1st axis 1 2nd axis 2 3rd axis 3 4th axis 4 5th axis 5 6th axis 6 7th axis 7 8 9 A B Not usable

C D E F Axis not used

Waiting for CNC power start up

CNC power ON

LED display

Servo driver initialization complete Waiting for CNC power start up

Executing initial communication with CNC

Emergency stop state The LED will alternate between F# → E7 → not lit. (# is the set axis No.)

Servo ON state

CNC power OFF

Servo OFF state Repeats lighting and going out. (1st axis in the display example)

CNC power ON

Chapter 9 Setup

9–3

9-2 Setting the initial parameters 9-2-1 Setting the initial parameters

(1) Command polarity/feedback polarity (SV017: SPEC) Command polarity When the motor is to rotate in the clockwise direction (looking from the load side) when the command is used in the + direction, the command direction is CW. Conversely, when the motor is to rotate in the counterclockwise direction, the command direction is CCW. This rotation direction can be set with the CNC machine parameters. Note that the meaning of the ± will differ for some servo parameters according to this motor rotation direction. The servo parameters affected by CW/CCW are shown below. SV016:LMC1 SV041:LMC2 (When different values are set for SV016 and SV041) SV031:OVS1 SV042:OVS2 (When different values are set for SV031 and SV042) <Example> If the lost motion compensation

amount is to be changed according to the direction, the compensation amount at the quadrant change-over point of each axis where the lost motion compensation is applied will be as shown below according to the command polarity.

CW CCW

A X:SV041 X:SV016 B Y:SV016 Y:SV041 C X:SV016 X:SV041 D Y:SV041 Y:SV016

Feedback polarity

Name Abbrev. Details Setting range (unit)

SV017 SPEC Servo specifications • fdir must be set according to the motor power line and linear scale installation state.

Refer to 9-3 Initial setup of the linear servo system. • vdir2 must be set only for the 2-scale 2-motor system (system using feedback on sub

side.) Refer to 9-3-4 Setting the parallel drive system.

HEX setting

F E D C B A 9 8 7 6 5 4 3 2 1 0 spm drvall drvup mpt3 mp abs vmh vdir fdir seqh dfbx vdir2

bit Name Meaning when "0" is set Meaning when "1" is set 0 vdir2 Sub side (CN3 connector) feedback

forward polarity Sub side (CN3 connector) feedback reverse polarity

4 fdir Main side (CN2 connector) feedback forward polarity

Main side (CN2 connector) feedback reverse polarity

+X–X

–Y

+Y The Y axis command directionchanges from the + to – direction.

A

B

C

D

The X axis command directionchanges from the + to – direction.

The Y axis command directionchanges from the – to + direction.

The X axis command directionchanges from the – to + direction.

Chapter 9 Setup

9–4

(2) Servo specifications (SV017: SPEC) The following parameters are set according to the system specifications such as the servomotor type, motor and driver (servo drive unit) combination, and absolute position system or incremental position system, etc.


SV017 SPEC Servo specifications

HEX setting

(3) Ball screw pitch (SV018: PIT)

SV018 PIT Set the magnetic pole pitch. The pole pitch is determined by the motor type. Refer to 9-2-4 List of standard parameters for each motor.

1 to 32767 (mm)

(4) Detector resolution (SV019: RNG1, SV020: RNG2)

Set the following parameters according the detector resolution.

SV019 RNG1 Set the resolution per magnetic pole pitch of the detector used for position control. 1 to 9999 (Kp/PIT)

SV020 RNG2 Set the resolution per pole pitch of the detector used for speed control. 1 to 9999 (Kp/PIT)

Linear motor system

AT342 LC191M HR+incre-mental scale∗3

HR+AT342 ∗3

RNG1 RNG2 RNG1 RNG2 RNG1 RNG2 RNG1 RNG2 Motor end detector

120 120 600 600 ∗2 ∗2 1500 1500 (Caution) The above settings are for a linear motor having a magnetic pole pitch of 60mm.




1 dfbx Set to "0". 2 seqh READY/servo ON time, normal mode READY/servo ON time, time reduction

mode 3 Set to "0". 4 fdir Main side (CN2 connector) feedback

forward polarity Main side (CN2 connector) feedback reverse polarity

5 vdir Set to "0". 6 vmh Normal processing mode High-speed processing mode

∗ For the linear system, set the high-speed processing mode.

7 abs Incremental position detection Absolute position detection 8 mp Set to "0". 9 mpt3 Set to "0". A drvup Combination with standard motor driver Set when using a combination with a

driver having a capacity one rank above or below the standard motor drive.

B drvall Normal setting Set when using a combination of driver having a capacity different from the standard motor driver.

C D E F

spm Standard linear motor : 6 Special linear motor : 7 Refer to (5) List of motor types.

∗2 Set the resolution per magnetic pole pitch in RNG1 and 2.

∗3 HR means the MDS-B-HR unit, and is indicated when this unit is connected between the scale.

Chapter 9 Setup

9–5

(5) Motor type (SV025: MTYP) Set the combination with SV017: SPEC spm in SV025: MTYP mtyp.



HEX setting

Name Abbrev. Details Setting range

(unit) SV025 MTYP Motor/detector type

HEX setting

1) Standard linear motor

SV017: SPEC = 6xxx Set the Nos. given in the following table in SV025: mtyp (bit 0 to bit 7) according to the linear motor (LM- ) being used. For self-cooling, "NP M" (excluding the hyphen) is displayed on the CNC screen. For oil-cooling, the following type "NP Mc" (excluding the hyphen) with a "c" added to the end is displayed.

Cooling method Self-cooling Oil-cooling

Motor series Standard Standard

No. 0x 1x 2x 3x 4x 5x 6x 7x 8x 9x Ax Bx Cx Dx Ex Fx x0 NP2S‐05M NP2S‐05M

x1 NP2M‐15M NP2M‐15M

x2 NP2L‐15M NP2L‐15M

x3

x4 NP4S‐10M NP4S‐10M

x5 NP4M‐20M NP4M‐20M

x6 NP4L‐30M NP4L‐30M

x7 NP4G‐40M NP4G‐40M

x8 NP6A‐25F

x9

xA

xB

xC

xD

xE

xF


bit Name Meaning when "0" is set Meaning when "1" is set C D E F

spm Standard linear motor : 6 Special linear motor : 7

F E D C B A 9 8 7 6 5 4 3 2 1 0 Pen ent mtyp

Chapter 9 Setup

9–6

2) Special linear motor SV017: SPEC = 7xxx SV025: Set the following Nos. in SV025: mtyp (bit 0 to bit 7).

Cooling method

Motor series

No. 8x 9x Ax Bx Cx Dx Ex Fx x0

x1

x2

x3

x4

x5

x6

x7

x8

x9

xA

xB

xC

xD

xE

xF

(6) Detector type (SV025: MTYP)

Set the following parameter according to the detector being used.


SV025 MTYP Motor/detector type

pen : Set the position detector type ent : Set the speed detector type.

HEX setting

Set SV025: MTYP pen/ent according to the following table.

No. Detection method Detector type Class Remarks

A High-speed serial ABS SCALE ∗Note 2 MDS-B-HR MAIN side

detector Set A for the linear motor.

B C

D High-speed serial ABS SCALE ∗Note 2 MDS-B-HR

E F

SUB side detector

Set D for pen when using the 2-scale 2-motor system (system using SUB side feedback).

Note 2: ABS SCALE (absolute scale) corresponds to the following absolute position detection scales. Mitsutoyo AT342 Heidenhain LC191M

Detection system and MTYP Refer to the following table and set SV025: MTYP according to the detection system.

Linear motor system AT342

LC191M HR+

AT342 (special) HR+MD HR+MD+ AT342 (special)

MTYP Detection system MTYP Detection

system MTYP Detection system MTYP Detection

system MAIN side detector

AAxx ABS possible AAxx ABS possible AAxx INC AAxx ABS possible 2-scale 2-motor (2-amplifier) linear motor system (Set to the slave axis when using a system that uses the sub side (CN3 connector) feedback.)

AT342 LC191M

HR+ AT342 (special) HR+MD HR+MD+

AT342 (special)

MTYP Detection system MTYP Detection

system MTYP Detection system MTYP Detection

system SUB side detector

DAxx ABS possible DAxx ABS possible DAxx INC DAxx ABS possible

F E D C B A 9 8 7 6 5 4 3 2 1 0 Pen ent mtyp

* ABS (Absolute system)

* ABS (Absolute system)

Chapter 9 Setup

9–7

(7) Power supply type (SV036: PTYP)


SV036 PTYP Power supply type

HEX setting

Refer to the following table and set SV036: PTYP ptyp.

No. 0xKw 0x

1xKw 1x

2xKw 2x

3xKw 3x

4xKw 4x

5xKw 5x 6x 7x 0xKw

8x 0 PS not

connected CV-300 1 CV-110 CR-10 2 CV-220 CR-15 3 CR-22 4 CV-37 CR-37 5 CV-150 CV-450 CV-550 6 CV-55 CV-260 CR-55 7 CV-370 8 CV-75 CR-75 9 CV-185 CR-90 A B C D E F

List of regenerative resistor types

Refer to the following table and set SV036: PTYP port. (For MDS-A-CR unit)

No. Regenerative resistor type

Resistance value (Ω) Wattage (W)

0 1 GZG200W260HMJ 26 80 2 GZG300W130HMJ×2 26 150 3 MR-RB30 13 300 4 MR-RB50 13 500 5 GZG200W200HMJ×3 6.7 350 6 GZG300W200HMJ×3 6.7 500 7 R-UNIT-1 30 700 8 R-UNIT-2 15 700 9 R-UNIT-3 15 2100 A B C D E F

F E D C B A 9 8 7 6 5 4 3 2 1 0 amp rtyp ptyp

bit Name Details 0 1 2 3 4 5 6 7

ptyp Set the power supply type.

8 9 A B

rtyp Set 0 if the power supply unit is a power regeneration type. If the power supply unit is a resistance regeneration type, set the type of resistor being used.

C D E F

amp Set the driver model No. 0: MDS-B-V14/V24, V14L, MDS-B-V1/V2/SP, MDS-A-V1/V2/SP 1: MDS-A-SVJ 2: MDS-A-SPJ

Chapter 9 Setup

9–8

9-2-2 Parameters set according to feedrate The following parameters are determined according to each axis' feedrate.

No. Abbrev. Parameter name Explanation SV023 OD1 Excessive error detection

width at servo ON SV026 OD2 Excessive error detection

width at servo OFF

A protective function will activate if the error between the position command and position feedback is excessive. If the machine load is heavy and problems occur with the standard settings, gradually increase the setting value. <Calculation of standard setting value>

OD1 = OD2 = Max. rapid traverse rate (mm/min)60 × PGN1 × 0.5 (mm)

9-2-3 Parameters set according to machine movable mass

The following parameters are set according to the machine's movable mass (including motor mass).

No. Abbrev. Parameter name Explanation SV005 VGN1 Speed loop gain. Refer to the comparison graph with the total movable mass (including motor

mass) for the standard setting value. SV008 VIA Speed loop leading

compensation Set 1364 as a standard. Set 1900 as a standard for the SHG control. If the total movable mass is large and the VGN1 value is smaller than the standard value, a lower value can be set regardless of whether normal control or SGH control is used.

00

20 40 60 80 100

Total movable mass (kg)

StandardVGN1

〈LM-NP〉

100

200

300

400

500

600

700

120 140

2S-05M

00

40 80 120 160 200


StandardVGN1

〈LM-NP〉

100

200

300

400

500

600

700

240 280

2M-10M4S-10M

00

100 200 400


StandardVGN1

〈LM-NP〉

100

200

300

400

500

600

700

300 500

2L-15M4M-20M

00

100 200 300 400 500Total movable mass (kg)

StandardVGN1

〈LM-NP〉

100

200

300

400

500

600

700

600 700

4L-30M

00

200 400 800Total movable mass (kg)

StandardVGN1

〈LM-NP〉

100

200

300

400

500

600

700

600 1000

4G-40M

Chapter 9 Setup

9–9

9-2-4 List of standard parameters for each motor

List of standard parameters for each motor Linear servomotor (self-cooling) Linear servomotor (oil-cooling)

Motor LM-NP2S-05

M

LM-NP2M-10

M

LM-NP2L-15

M

LM-NP4S-10

M

LM-NP4M-20

M

LM-NP4L-30

M

LM-NP4G-40

M

LM-NP2S-05

M

LM-NP2M-10

M

LM-NP2L-15

M

LM-NP4S-10

M

LM-NP4M-20

M

LM-NP4L-30

M

LM-NP4G-40

M LM-NP6A-25F

Driver 20 35 45 35 45 90 110 20 35 45 35 45 90 110 45 SV001 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 SV002 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 SV003 47 47 47 47 47 47 47 47 47 47 47 47 47 47 47 SV004 125 125 125 125 125 125 125 125 125 125 125 125 125 125 125 SV005 - - - - - - - - - - - - - - - SV006 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 SV007 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 SV008 1364 1364 1364 1364 1364 1364 1364 1364 1364 1364 1364 1364 1364 1364 1364 SV009 10240 10240 10240 10240 10240 10240 10240 10240 10240 10240 10240 10240 10240 10240 10240 SV010 10240 10240 10240 10240 10240 10240 10240 10240 10240 10240 10240 10240 10240 10240 10240 SV011 1024 1024 1024 1024 1024 1024 1024 1024 1024 1024 1024 1024 1024 1024 1500 SV012 1024 1024 1024 1024 1024 1024 1024 1024 1024 1024 1024 1024 1024 1024 1500 SV013 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 SV014 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 SV015 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 SV016 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 SV017 6xxx 6xxx 6xxx 6xxx 6xxx 6xxx 6xxx 6xxx 6xxx 6xxx 6xxx 6xxx 6xxx 6xxx 6xxx SV018 60 60 60 60 60 60 60 60 60 60 60 60 60 60 60 SV019 - - - - - - - - - - - - - - - SV020 - - - - - - - - - - - - - - - SV021 60 60 60 60 60 60 60 60 60 60 60 60 60 60 60 SV022 150 150 150 150 150 150 150 150 150 150 150 150 150 150 150 SV023 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 SV024 50 50 50 50 50 50 50 50 50 50 50 50 50 50 50 SV025 xx00 xx01 xx02 xx04 xx05 xx06 xx07 xx10 xx11 xx12 xx14 xx15 xx16x xx17 xx18 SV026 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 SV027 4000 4000 4000 4000 4000 4000 4000 4000 4000 4000 4000 4000 4000 4000 4000 SV028 - - - - - - - - - - - - - - - SV029 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 SV030 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 SV031 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 SV032 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 SV033 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 SV034 0003 0003 0003 0003 0003 0003 0003 0003 0003 0003 0003 0003 0003 0003 0003 SV035 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 SV036 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 SV037 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 SV038 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 SV039 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 SV040 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 SV041 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 SV042 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 SV043 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 SV044 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 SV045 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 SV046 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 SV047 100 100 100 100 100 100 100 100 100 100 100 100 100 100 100 SV048 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 SV049 15 15 15 15 15 15 15 15 15 15 15 15 15 15 15 SV050 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 SV051 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 SV052 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 SV053 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 SV054 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 SV055 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 SV056 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 SV057 281 281 281 281 281 281 281 281 281 281 281 281 281 281 281 SV058 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 SV059 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 SV060 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 SV061 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 SV062 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 SV063 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 SV064 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 OS1 OS2

Chapter 9 Setup

9–10

9-3 Initial setup of the linear servo system

The motor is driven by the magnetic force created by the coil and the magnetic force of the permanent magnet. Thus, it is necessary to comprehend at which pole of the permanent magnet the coil is located. With the conventional rotary motor, the coil and permanent magnet are located in the motor, and the relation of the two parts is fixed. The relation of the detector installed on the motor and the motor itself is also fixed. With the linear servo system the coil (motor primary side), permanent magnet (motor secondary side) and linear scale are independently installed, so the pole must be adjusted according to the linear motor and linear scale relation. If this pole is not adjusted, the motor may not operate or may not operate correctly. The magnetic pole adjustment method is explained in this section.

9-3-1 Installation of linear motor and linear scale

The installation direction of the linear motor and linear scale is explained in this section.

(1) Linear motor's magnetic pole direction The magnetic pole direction of the linear motor is shown below. As shown in the drawing, if moved in the direction having the power line connector or MDS-B-MD installation hole, the pole will move in the minus direction. If moved in the opposite direction, the pole will move in the plus direction.

Power line connector

Motor secondaryside Plus direction

Minus direction

MDS-B-MD installation holeMotor primary side

Chapter 9 Setup

9–11

(2) Feedback direction of linear scale The linear scales include the AT342 scale and Heidenhain scale, etc. The feedback direction of the AT342 scale is shown below. When moved to the left, looking from the direction with the detector head facing downward and the AT342 display facing forward, the feedback moves in the plus direction. When moved in the opposite direction, the position moves in the minus direction. The plus/minus directions of the Heidenhain scale are the opposite of the AT342 scale.

AT342Mitutoyo

AT342 scale unit

Plus direction Minus direction

Detection head

Signal cable

HEIDENHAIN

Scale unit body

Heidenhain scale unit

Minus direction Plus direction

Detection head

Signal cable

Scale unit body

Chapter 9 Setup

9–12

If the linear motor's pole direction and linear scale's feedback direction are same, the state is called forward polarity. If these directions differ, the state is called reverse polarity. Normally, these are installed to achieve forward polarity, but can be installed to achieve reverse polarity. The polarity achieved with the linear motor and linear scale installation directions is shown below. Refer to this table, and set the pole direction and feedback direction relation in the following parameter. When this parameter is set, the servo driver's position direction can be reversed. Thus, the position data displayed on the CNC Servo Monitor screen will have a plus/minus direction opposite from the linear scale feedback direction. (The Heidenhain scale indicates the case of the A, B phase analog output of the measurement length system LS, LIDA and LIF. Thus, when using another scale, confirm that the A and B phase analog outputs have the same relation.

No. Abbrev. Parameter

name Details

SV017 SPEC Servo specifica-tions

This is a HEX setting parameter. Set this as follows according to the servo specification.

Table of feedback polarities according to linear motor and linear scale installation directions

Connected scale AT342 scale Heidenhain scale Item Polarity SPEC (fdir) Polarity SPEC (fdir)

Fig. 9.3.1 (1) Forward polarity 0 Reverse polarity 1 Fig. 9.3.1 (2) Reverse polarity 1 Forward polarity 0 Fig. 9.3.1 (3) Reverse polarity 1 Forward polarity 0 Fig. 9.3.1 (4) Forward polarity 0 Reverse polarity 1 Fig. 9.3.2 (1) Reverse polarity 1 Forward polarity 0 Fig. 9.3.2 (2) Forward polarity 0 Reverse polarity 1 Fig. 9.3.2 (3) Forward polarity 0 Reverse polarity 1

Fig. No.

Fig. 9.3.2 (4) Reverse polarity 1 Forward polarity 0

Power lineconnector

(1)

(4)(3)

(2)

Detection head

Signal cable

Power lineconnector

Detection head

Signal cable

Power lineconnector

Detection head

Signal cable Detection head Power lineconnector

Signal cable

Fig. 9.3.1 When linear scale detection head is installed on motor's primary side (This is for the AT342. The signal cable direction is reversed for the Heidenhain scale.)

15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 spm drvall drvup mpt3 mp abs vmh vdir fdir seqh dfbx vdir2

Bit Meaning when "0" is set Meaning when "1" is set

4 fdir Main side (CN2) feedback forward polarity

Main side (CN2) feedback reverse polarity

Chapter 9 Setup

9–13

(1)

(3) (4)

(2)

Power lineconnector

Detection head

Signal cable

Power lineconnector

Detection head

Signal cablePower lineconnector

Detection head

Signal cable

Power lineconnector

Detection head

Signal cable

Fig. 9.3.2 When linear scale body is installed on motor's primary side (This is for the AT342. The signal cable direction is reversed for the Heidenhain scale.)

9-3-2 DC excitation function

By using the DC excitation function, the linear motor can be moved to the 0° pole regardless of the feedback from the linear scale. This DC excitation function is required to determine the magnetic pole shift amount. When determining the pole shift amount, carry out DC excitation after confirming that the cycle counter displayed on the CNC Servo Monitor screen is not 0 (Z phase passed). The following parameters are used for DC excitation.


name Explanation

SV034 SSF3 Special servo function selection 3


No. Abbrev. Parameter name Explanation Setting range

SV061 DA1NO D/A output channel 1· data No.

Set the initial excitation level for DC excitation. Set a minus value. Set –250 when starting DC excitation.

–32768 to 32767

SV062 DA2NO D/A output channel 2· data No.

Set the final pole level for DC excitation. Set a minus value. Set –250 when starting DC excitation.

–32768 to 32767

SV063 DA1MPY D/A output channel 1· output scale

Set the initial excitation time for DC excitation. (ms) Normally, 500 is set.

–32768 to 32767

* Set so that each setting value with |SV061| ≤ |SV062| is a minus value.

15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 ovsn linN toff os2 dcd test mohn has2 has1

Bit Meaning when "0" is set Meaning when "1" is set

4 dcd Setting for normal use DC excitation mode

Chapter 9 Setup

9–14

<Adjustment methods> 1. Secure the distance (PIT) that the linear motor could move during DC

excitation as shown on the right. 2. Set SV034/dcd to "1", and the setting values for starting DC

excitation in SV061 to SV063. 3. Release the emergency stop. (DC excitation start) 4. Apply the emergency stop. (DC excitation end) <Operation> 1. When the emergency stop is released, the current set in SV061 will flow to the V phase (V phase

excitation) for (SV063 setting value × 1/2) msec, and the motor will move toward the pole 120°. At this time, the direction and distance that the linear motor position will move when the emergency stop is released will differ as shown below.

(It may not be possible to confirm movement when already near pole 120°.) 2. Next, the current set in SV061 will flow the U phase (U phase excitation) for (SV063 setting value

x 1/2) msec, and the motor will move toward the pole 0°. In this case, the movement will be in the same direction for all examples shown below.

3. Finally, the current set in SV062 will flow to the U phase, and the pole 0° position will be established.

<Confirmation> 1. During DC excitation, confirm the value displayed at MAX CURRENT 2 value on the CNC Servo

Monitor screen. If the linear motor does not move even when the MAX CURRENT 2 value is 100 or more, the

cable connection may be incorrect, so confirm the connection. 2. Confirm the MAIN side feedback polarity (SPEC/fdir) achieved with DC excitation. The MAIN side feedback polarity can be confirmed with the direction that the linear motor moves

during U phase excitation, and the increment/decrement of the cycle counter displayed on the CNC Servo Monitor screen. Judge whether the polarity confirmed with DC excitation matches the polarity set with the servo parameters. Correct the servo parameter polarity if incorrect.

fdir correction table according to linear motor movement with DC excitation.

Linear motor movement

Linear motor polarity Minus direction

Linear motor polarity Plus direction

Cycle counter increment/decrement Increment Decrement Increment Decrement

ABS SCALL Correctly set Incorrectly set Incorrectly set Correctly set MDS-B-HR Incorrectly set Correctly set Correctly set Incorrectly set

Movement distance within PIT setting value

Motor

Mag

net

Movement distance within PIT setting value

V phase excitation

U phase excitation

Pole 120°

Pole 0°

Pole 300°

Motor

Mag

net

V phase excitation

U phase excitation

Pole 120°

Pole 0°

Motor

Mag

net

V phase excitation

U phase excitation Pole 360°

(Pole 0°)

Pole 300°

Pole 120°

Motor

Mag

net

Fig. 9.3.3 When linear motor is between pole 0° and 120°



Chapter 9 Setup

9–15

9-3-3 Setting the pole shift

When the linear motor and linear scale are installed, the linear motor does not know which pole the permanent magnet is at. Thus, if the linear motor is driven in that state, it may not move or could runaway. By setting the pole shift amount, the linear motor can be driven correctly no matter which pole it is at. For the pole shift amount, set the data displayed at Rn on the CNC Absolute Position Monitor screen during DC excitation (while the emergency stop is released).


(Unit) SV028 MSFT Pole shift amount Set the pole shift amount –30000 to

30000 (µm)

* The SV028 setting value is validated after the CNC power is rebooted.

(1) For system to which MDS-B-MD is not connected If the pole shift amount is set, it will be validated after the CNC power is rebooted.

(2) For system to which MDS-B-MD is connected Normally, the motor is driven with the pole created by MDS-B-MD. However, if this pole shift amount is set, it will be validated when the Z phase has been passed once after the CNC power has been rebooted. However, if there is a deviation of 30° or more between the pole before and after pole shifting, the pole shift amount will not be validated, and instead the 9B warning (Pole shift warning) will be detected. The motor will be driven with the pole achieved before pole shifting. If the 9B alarm occurs, carry out DC excitation again to determine the pole shift amount. The correct pole shift amount can be achieved even if a value is set in SV028 at this time.

Chapter 9 Setup

9–16

Flow chart for DC excitation and pole shift amount setting

Y

Start of adjustment

Set SV061: –250 SV062: –250 SV063: 500

Set SV034/dcd to "1"

Release the emergency stop

Confirm the motor movement and NC Servo Monitor MAX CURRENT 2 value.

Emergency stop

Increase the SV062 setting values

Increase the SV061, SV062 setting values

Confirm that the motor's primary side moves to the end

Confirm Rn on the NC Absolute Position Motor

Set the Rn display value in SV028, and SV034/dcd to "0"

Reboot the NC power, and carry out normal operation.

Is the polarity correct?

SV061 = SV062？

Has a time exceeding SV063 setting

value passed?

Cycle counter = 0?

Change SV017/fdir (Change the polarity)

Move the motor's primary side.

Y

N

N

Y

Y

N

Y

N

Did the motor not move?

N

Y MAX CURRENT 2 value < 100?

N

Check the connection

Release the emergency stop

Emergency stop

Chapter 9 Setup

9–17

9-3-4 Setting the parallel drive system

When driving the linear motor with a parallel drive system, confirm that the following parameters are correctly set for the (1), (2) 2-scale 2-motor (2-amplifier) control or (3) 1-scale 2-motor (2-amplifier) control method. If incorrectly set, correct the setting and reboot the CNC power supply. When using a parallel drive system, do not simultaneously DC excite the master side and slave side. When carrying out DC excitation of either axis, make sure that current is not flowing to the other axis.


name Details

SV017 SPEC Servo specifica-tions


SV025 MTYP Motor/ detector type

This is a HEX setting parameter. Set this as follows according to the detector type.


(Unit) SV028 MSFT Pole shift amount Set the pole shift amount –30000 to

30000 (µm)

15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 spm drvall drvup mpt3 mp abs vmh vdir fdir seqh dfbx vdir2

bit Meaning when "0" is set Meaning when "1" is set

4 fdir Main side (CN2) feedback forward polarity

Main side (CN2) feedback reverse polarity

0 vdir2 Sub side (CN3) feedback forward polarity

Sub side (CN3) feedback reverse polarity

15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 pen ent mtyp

bit Details

8 9 10 11

ent Set the position detector type (Refer to 9-2-1 (6) Detector type list)

12 13 14 15

pen Set the speed detector type. (Refer to 9-2-1 (6) Detector type list)

Chapter 9 Setup

9–18

(1) 2-scale 2-motor (2-amplifier) control (System using only main side (CN2 connector side) feedback)

Setting parameter Master axis Slave axis SV017/fdir Normally, set the setting value for control. Normally, set the setting value for control.

SV017/vdir2 Set 0. Set 0. SV025/pen·ent Set AAxx. Set AAxx.

SV028 Normally, set the setting value for control. Normally, set the setting value for control. (2) 2-scale 2-motor (2-amplifier) control (System also using sub side (CN3 connector side) feedback)

Setting parameter Master axis Slave axis SV017/fdir Normally, set the setting value for control. Normally, set the setting value for control.

SV017/vdir2 Set 0. If the master axis and linear motor pole directions are the same, set to the same setting as SV017/fdir for the master axis. If the pole directions are reversed, set the opposite setting as SV017/fdir for the master axis.

SV025/pen·ent Set AAxx. Set DAxx. SV028 Normally, set the setting value for control. Normally, set the setting value for control.

(3) 1-scale 2-motor (2-amplifier) control

Setting parameter Master axis Slave axis SV017/fdir Normally, set the setting value for control. If the master axis and linear motor pole directions are

the same, set to the same setting as SV017/fdir for the master axis. If the pole directions are reversed, set the opposite setting as SV017/fdir for the master axis.

SV017/vdir2 Set 0. Set 0. SV025/pen·ent Set AAxx. Set AAxx.

SV028 Normally, set the setting value for control. Set the pole shift amount when DC excitation is carried out with the connected detector.

CAUTION

When carrying out DC excitation with the parallel drive system, if the current flows to the parallel axis, the machine could break down or the accuracy may not be satisfied. When carrying out DC excitation with the parallel drive system, make sure that current does not flow to the parallel axis.

9-3-5 Settings when motor thermal is not connected

POINT

When driving the motor with a system connected to the MDS-B-HR, the servo driver's protection function will activate if the motor reaches an abnormal temperature. However, if the wire for the motor's abnormal temperature monitoring is not connected, the MDS-B-HR will attempt to activate this protection function. Thus, when driving a motor with a system that does not have this connection, set the following parameter to ignore the signal from the MDS-B-HR.


name Explanation


Set the motor thermal with the following parameter.

15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 ovsn toff os2 dcd test mohm has2 has2

bit Meaning when "0" is set Meaning when "1" is set

2 mohm HR motor thermal valid HR motor thermal invalid

10–1

Chapter 10 Adjustment

10-1 Measurement of adjustment data........................................................... 10-2 10-1-1 D/A output specifications ................................................................. 10-2 10-1-2 Setting the output data..................................................................... 10-2 10-1-3 Setting the output scale ................................................................... 10-2 10-2 Gain adjustment....................................................................................... 10-3 10-2-1 Current loop gain ............................................................................. 10-3 10-2-2 Speed loop gain ............................................................................... 10-3 10-2-3 Position loop gain............................................................................. 10-5 10-3 Characteristics improvement ................................................................. 10-7 10-3-1 Optimal adjustment of cycle time ..................................................... 10-7 10-3-2 Vibration suppression method.......................................................... 10-10 10-3-3 Improving the cutting surface precision............................................ 10-12 10-3-4 Improvement of protrusion at quadrant changeover ........................ 10-14 10-3-5 Improvement of overshooting........................................................... 10-19 10-3-6 Improvement of characteristics during

acceleration/deceleration.................................................................. 10-22 10-4 Setting for emergency stop .................................................................... 10-25 10-4-1 Vertical axis drop prevention control ................................................ 10-25 10-4-2 Deceleration control ......................................................................... 10-33 10-5 Collision detection................................................................................... 10-34 10-6 Parameter list ........................................................................................... 10-37


10–2

10-1 Measurement of adjustment data The MDS-B-V14L servo driver has a function to D/A output the various control data. To adjust the servo and set the servo parameters that match the machine, it is necessary to use the D/A output and measure the internal status of the servo. Measure using a hi-coder, synchroscope, etc.

10-1-1 D/A output specifications

Item Explanation No. of channels 2 ch. Output cycle 222µs (min. value) Output precision 8-bit Output voltage range 0 to +5V Output scale setting ±1/258 to ±128 times Output pins CN9 connector

Channel 1 = pin 9 Channel 2 = pin 19 GND = pin 1, 11

10-1-2 Setting the output data

No. Abbrev. Parameter name Explanation SV061 DA1NO D/A output channel 1 data No. SV062 DA2NO D/A output channel 2 data No.

Input the No. of the data to be output to each D/A output channel.

* Interpolation unit This is an CNC internal unit. The command unit (input unit) will be as shown on the right. 10-1-3 Setting the output scale


SV063 DA1MPY D/A output channel 1 output scale

–32768 to 32767

SV064 DA2MPY D/A output channel 2 output scale

The scale is set with a 1/256 unit. When 256 is set, the scale will be 1-fold.

Analog output voltage = (output data value) × (SV063 or SV064 setting unit) × 76.3/1,000,000 + 2.5V

No. CH1 output data Standard output unit -1 D/A output non-selection 0 Speed feedback m/sec 1 Current command Rated (stall) current % 2 Current command Rated (stall) current % 3 Current feedback Rated (stall) current % 4 Speed feedback low-order m/sec 5 Speed feedback high-order m/sec 6 Position droop low-order Interpolation unit 7 Position droop high-order Interpolation unit

8 Position F∆T low-order Interpolation unit/ NC communication cycle

9 Position F∆T high-order Interpolation unit/ NC communication cycle

10 Position command low-order Interpolation unit 11 Position command high-order Interpolation unit 12 Feedback position low-order Interpolation unit 13 Feedback position high-order Interpolation unit

125 Test output saw-tooth wave 0 to +5V 126 Test output rectangular wave 0 to +5V 127 Test output 0V

No. CH2 output data Standard output unit -1 D/A output non-selection 0 Current command Rated (stall) current % 1 Current command Rated (stall) current % 2 Current command Rated (stall) current % 3 Current feedback Rated (stall) current % 4 Speed feedback low-order m/sec 5 Speed feedback high-order m/sec 6 Position droop low-order Interpolation unit 7 Position droop high-order Interpolation unit

8 Position F∆T low-order Interpolation unit/ NC communication cycle

9 Position F∆T high-order Interpolation unit/ NC communication cycle

10 Position command low-order Interpolation unit 11 Position command high-order Interpolation unit 12 Feedback position low-order Interpolation unit 13 Feedback position high-order Interpolation unit

125 Test output saw-tooth wave 0 to +5V 126 Test output rectangular wave 0 to +5V 127 Test output 0V

Command

unit Interpolation

unit 10µm 5µm 1µm 0.5µm

0.1µm 0.05µm


10–3

10-2 Gain adjustment 10-2-1 Current loop gain

No. Abbrev. Parameter name Explanation Setting range SV009 IQA Current loop q axis leading

compensation 1 to 20480

SV010 IDA Current loop d axis leading compensation

1 to 20480

SV011 IQG Current loop q axis gain 1 to 4096 SV012 IDG Current loop d axis gain

This setting is determined by the motor's electrical characteristics. Basically set the standard parameters for all parameters. (These are used for maker adjustments.)

1 to 4096 10-2-2 Speed loop gain

(1) Setting the speed loop gain

The speed loop gain (SV005: VGN1) is an important parameter for determining the responsiveness of the servo control. During servo adjustment, the highest extent that this value can be set to becomes important. The setting value has a large influence on the machine cutting precision and cycle time.

① To adjust the VGN1 value, first obtain the standard VGN1 to judge how much VGN1 is required for the machine total movable mass. The standard VGN1 differs according to the size of the machine's movable mass. Refer to the section "9-2-3 Parameters set according to machine movable mass".

<When machine resonance does not occur at the standard VGN1>

Set the standard VGN1. Use the standard value if no problem (such as machine resonance) occurs. If sufficient cutting precision cannot be obtained at the standard VGN1, VGN1 can be raised above the standard value if a 70 percent margin is maintained in respect to the machine resonance's occurrence limit. The cutting accuracy can also be improved by adjusting with the disturbance observer.

<When machine resonance occurs at the standard VGN1> Machine resonance is occurring if the shaft makes abnormal sounds when operating or stopping, and a fine vibration can be felt when the machine is touched while stopped. Machine resonance occurs because the servo control responsiveness includes the machine resonance points. Machine resonance can be suppressed by lowering VGN1 and the servo control responsiveness, but the cutting precision and cycle time are sacrificed. Thus, set a vibration suppression filter and suppress the machine resonance (Refer to section "10-3-2 Vibration suppression measures"), and set a value as close as possible to the standard VGN1. If the machine resonance cannot be sufficiently eliminated even by using a vibration suppression filter, then lower the VGN1.

No. Abbrev. Parameter name Explanation Setting range SV005 VGN1 Speed loop gain Set this according to the movable mass size.

If resonance occurs, adjust by lower the setting by 20% to 30% at a time.

1 to 999

POINT

The final VGN1 setting value should be 70 to 80% of the largest value at which machine resonance does not occur. If the vibration suppression functions are used to suppress the resonance and the VGN1 setting value is raised, the subsequent servo adjustment becomes more favorable.


10–4

(2) Setting the speed loop leading compensation The speed loop leading compensation (SV008: VIA) determines the characteristics of the speed loop mainly at low frequency regions. 1364 is set as a standard, and 1900 is set as a standard during SHG control. The standard value may drop for a machine having a large movable mass. When the VGN1 is set lower than the standard value because the movable mass is large or because machine resonance occurred, the speed loop control band is lowered. If the standard value is set in the leading compensation in this status, the leading compensation control itself will induce vibration. In concrete terms, a vibration of 10 to 20Hz could be caused during acceleration/deceleration and stopping, and the position droop waveform could be disturbed when accelerating to a constant speed and when stopped. (Refer to the following left graphs.) This vibration cannot be suppressed by the vibration suppression functions. Lower the VIA in decrement of 100 from the standard setting value. Set a value where vibration does not occur and the position droop waveform converges smoothly. Because lowering the VIA causes a drop in the position control's trackability, the vibration suppression is improved even when a disturbance observer is used without lowering the VIA. (Be careful of machine resonance occurrence at this time.)

If VIA is lowered, the position droop waveform becomes smooth and overshooting does not occur. However, because the trackability regarding the position commands becomes worse, that the positioning time and precision are sacrificed. VIA must be kept high (set the standard value) to guarantee precision, especially in high-speed contour cutting (generally F = 1000 or higher). In other words, a large enough value must be set in VGN1 so that the VIA does not need to be lowered in machines aimed at high-speed precision. When adjusting, the cutting precision will be better if adjustment is carried out to a degree where overshooting does not occur and a high VIA is maintained, without pursuing position droop smoothness. If there are no vibration or overshooting problems, the high-speed contour cutting precision can be further improved by setting the VIA higher than the standard value. In this case, adjust by raising the VIA in increments of approx. 100 from the standard value. Setting a higher VIA improves the trackability regarding position commands in machines for which cycle time is important, and the time to when the position droop converges on the in-position width is shortened. It is easier to adjust the VIA to improve precision and cycle time if a large value (a value near the standard value) can be set in VGN1, or if VGN1 can be raised equivalently using the disturbance observer.

No. Abbrev. Parameter name Explanation Setting range SV008 VIA Speed loop leading

compensation 1364 is set as a standard. 1900 is set as a standard during SHG control. Adjust in increments of approx. 100. Raise the VIA and adjust to improve the contour tracking precision in high-speed cutting. If the position droop vibrates (10 to 20Hz), lower the VIA and adjust.

1 to 9999 (0.0687rad/s)

POINT Position droop vibration of 10Hz or less is not leading compensation control vibration. The position loop gain must be adjusted.

Vibration waveform with leading compensation control Adjusted position droop waveform

0

0 0

0

Speed FB

Position droop

Time

Time

D/A output range

Time

Time


10–5

10-2-3 Position loop gain

(1) Setting the position loop gain The position loop gain (SV003:PGN1) is a parameter that determines the trackability to the command position. 47 (SHG control) is set as a standard. Set the same position loop gain value between interpolation axes. When PGN1 is raised, the position tracking will improve, and the settling time will be shortened, but a speed loop that has a responsiveness that can track the position loop gain with increased response will be required. If the speed loop responsiveness is insufficient, several Hz of vibration or overshooting will occur during acceleration/deceleration. Vibration or overshooting will also occur when VGN1 is smaller than the standard value during VIA adjustment, but the vibration that occurs in the position loop is generally 10Hz or less. (The VIA vibration that occurs is 10 to 20Hz.) When the position control includes machine resonance points (Position control machine resonance points occur at the machine end parts, etc.) because of insufficient machine rigidity, the machine will vibrate during positioning, etc. In either case, lower PGN1 and adjust so vibration does not occur. If the machine also vibrates due to machine backlash when the motor stops, the vibration can be suppressed by lowering the PGN1 and smoothly stopping. If SHG control is used, an equivalently high position loop gain can be maintained while suppressing these vibrations. To adjust the SHG control, gradually raise the gain from a setting where 1/2 of a normal control PGN1 where vibration did not occur was set in PGN1. If the PGN1 setting value is more than 1/2 of the normal control PGN1 when SHG control is used, there is an improvement effect in position control. (Note that for the settling time, the improvement effect is at 1/ 2 or more.)

No. Abbrev. Parameter name Explanation Setting range SV003 PGN1 Position loop gain 1 Set 47 as a standard. If PGN1 is increased, the settling time will be

shortened, but a sufficient speed loop response will be required. 1 to 200 (rad/s)

SV004 PGN2 Position loop gain 2 Set 125 as a standard. (For SHG control) 0 to 999 SV057 SHGC SHG control gain Set 281 as a standard. (For SHG control) 0 to 1200

CAUTION Always set the same value for position loop gain between interpolation axes.

(2) Setting the position loop gain for spindle synchronous control During spindle synchronous control (synchronous tapping control, etc.), there are three sets of position loop gain parameters besides the normal control.


SV049 PGN1sp Position loop gain 1 during spindle synchronization

Set 15 as a standard. 1 to 200 (rad/s)

SV050 PGN2sp Position loop gain 2 during spindle synchronization

Set 0 as a standard. (For SHG control)

0 to 999

SV058 SHGCsp SHG control gain during spindle synchronization

Set 0 as a standard. (For SHG control)

Set the same parameter as the position loop gain for the spindle synchronous control.

0 to 1200

CAUTION Always set the same value for the position loop gain between the spindle and servo synchronous axes.


10–6

(3) SHG control (option function) If the position loop gain is increased or feed forward control (CNC function ) is used to shorten the settling time or increase the precision, the machine system may vibrate easily. SHG control changes the position loop to a high-gain by stably compensating the servo system position loop through a delay. This allows the settling time to be reduced and a high precision to be achieved.

(Feature 1) When the SHG control is set, even if PGN1 is set to the same value as the conventional gain, the position loop gain will be doubled.

(Feature 2) The SHG control response is smoother than conventional position control during acceleration/deceleration, so the gain can be increased further with SHG control compared to the conventional position control.

(Feature 3) With SHG control, a high gain is achieved so a high precision can be obtained during contour control.

The following drawing shows an example of the improvement in roundness characteristics with SHG control.

Shape error characteristics

During SHG control, PGN1, PGN2 and SHGC are set with the following ratio.

PGN1 : PGN2 : SHGC = 1 : 83 : 6

During SHG control even if the PGN1 setting value is the same, the actual position loop gain will be higher, so the speed loop must have a sufficient response. If the speed loop response is low, vibration or overshooting could occur during acceleration/deceleration in the same manner as conventional control. If the speed loop gain has been lowered because machine resonance occurs, lower the position loop gain and adjust.

No. Abbrev. Parameter name Setting

ratio Setting example Explanation Setting range

SV003 (SV049)

PGN1 (PGN1sp)

Position loop gain 1 1 23 26 33 38 47 1 to 200

SV004 (SV050)

PGN2 (PGN2sp)

Position loop gain 2 8 3 62 70 86 102 125 0 to 999

SV057 (SV058)

SHGC (SHGCsp)

SHG control gain 6 140 160 187 225 281

Always set a combination of the three parameters.

0 to 1200

SV008 VIA Speed loop leading compensation

Set 1900 as a standard for SHG control. 1 to 9999

SV015 FFC Acceleration feed forward gain

Set 100 as a standard for SHG control. 0 to 999

POINT The SHG control is an optional function. If the option is not set in the CNC, the alarm 37 (at power ON) or warning E4, Error Parameter No. 104 (2304 for M50/M64 Series CNC) will be output.

（F=3000mm/min，ERROR=5.0µm／div） –50.0 50.0 0.0

0.0

–50.0

50.0

2.5

22.5

(1) : Commanded path

(2) : SHG control (PGN1=47)

(3) : Conventional control (PGN1=33)

Control method

<Effect>

Roundness error (µm)

SHG control Conventional control


10–7

10-3 Characteristics improvement 10-3-1 Optimal adjustment of cycle time

The following items must be adjusted to adjust the cycle time. Refer to the Instruction Manuals provided with each CNC for the acceleration/deceleration pattern.

1) Rapid traverse rate (rapid) : This will affect the maximum speed during positioning. 2) Clamp speed (clamp) : This will affect the maximum speed during cutting. 3) Acceleration/deceleration time : Set the time to reach the feedrate. constant (G0t*, G1t*) 4) In-position width (SV024) : This will affect each block's movement command end time. 5) Position loop gain (SV003) : This will affect each block's movement command settling time. (1) Adjusting the rapid traverse rate

To adjust the rapid traverse, the CNC axis specification parameter rapid traverse rate (rapid) and acceleration/deceleration time constant (G0t*) are adjusted. The rapid traverse rate is set so that the motor speed matches the machine specifications in the range below the maximum speed in the motor specifications. For the acceleration/deceleration time constants, carry out rapid traverse reciprocation operation, and set so that the maximum current command value at acceleration/deceleration is within the range shown below. When adjusting, watch the current FB waveform during acceleration/deceleration, and adjust so that the thrust is within the specified range. Be careful, as insufficient thrust can easily occur when the driver input voltage is low (170 to 190V), and an excessive error can easily occur during acceleration/deceleration.

(2) Adjusting the cutting rate

To adjust the cutting rate, the CNC axis specification parameter clamp speed (clamp) and acceleration/deceleration time constant (G1t*) are adjusted. The in-position width at this time must be set to the same value as actual cutting. • Determining the clamp rate and adjusting the acceleration/deceleration time constant

(Features) The maximum cutting rate (clamp speed) can be determined freely. (Adjustment) Carry out cutting feed reciprocation operation with no dwell at the maximum

cutting rate and adjust the acceleration/deceleration time constant so that the maximum current command value during acceleration/deceleration is within the range shown below.

• Setting the step acceleration/deceleration and adjusting the clamp speed

(Features) The acceleration/deceleration time constant is determined with the position loop in the servo, so the acceleration/deceleration F∆T can be reduced.

(Adjustment) Set 1 (step) for the acceleration/deceleration time constant and carry out cutting feed reciprocation operation with no dwell. Adjust the cutting feed rate so that the maximum current command value during acceleration/deceleration is within the range shown below, and then set the value in the clamp speed.

Self-cooling Oil-cooling

Motor type Max. current command value Motor type Max. current

command value LM-NP2S-05M 600 to 680% LM-NP2S-05M 270 to 310% LM-NP2M-10M 590 to 670% LM-NP2M-10M 275 to 310% LM-NP2L-15M 565 to 640% LM-NP2L-15M 270 to 306% LM-NP4S-10M 590 to 670% LM-NP4S-10M 275 to 312% LM-NP4M-20M 550 to 620% LM-NP4M-20M 262 to 300% LM-NP4L-30M 570 to 650% LM-NP4L-30M 272 to 310% LM-NP4G-40M 560 to 640% LM-NP4G-40M 271 to 307%


10–8

(3) Adjusting the in-position width Because there is a response delay in the servomotor drive due to position loop control, a "settling time" is also required for the motor to actually stop after the command speed from the CNC reaches 0. The movement command in the next block is generally started after it is confirmed that the machine has entered the "in-position width" range set for the machine. Set the accuracy required of the machine for the in-position width. If an unnecessarily high accuracy is set, the cycle time will increase due to a delay in the settling time. The in-position width is effective even when the standard servo parameters are set. However, it may follow the CNC parameters, so refer to the CNC Instruction Manual for the setting.

No. Abbrev. Parameter name Unit Explanation Setting range SV024 INP In-position detection

width µm Set 50 as a standard.

Set the precision required for the machine. 0 to 32767

POINT The in-position width setting and confirmation availability depend on the CNC parameters


10–9

(4) Adjusting the settling time The settling time is the time required for the position droop to enter the in-position width after the feed command (F∆T) from the CNC reaches 0. The settling time can be shortened by raising the position loop gain or using SHG control. However, a sufficient response (sufficiently large VGN1 setting) for the speed loop is required to carry out stable control. The settling time during normal control when the CNC is set to linear acceleration/ deceleration can be calculated using the following equation. During SHG control, estimate the settling time by multiplying PGN1 by 2 .

Settling time (ms) = − 103

PGN1 × λn

F × 106

60 × G0tL × PGN12 × 1 − exp − PGN1 × G0tL103

PGN1 : Position loop gain1 (SV003) (rad/s) F : Rapid traverse rate (mm/min) G0tL : Rapid traverse linear acceleration/ deceleration time constant (ms) INP : In-position width (SV024) (µm)

Example of speed/current command waveform during acceleration/deceleration

INP

Position droop

Time

Positioning time

In-position

0

0

F∆T

F

G0tL

0

0

3000

200

–200

–3000

Time

Time

Speed command (r/min)

Current command (Rated current %)


10–10

10-3-2 Vibration suppression measures If vibration (machine resonance) occurs, it can be suppressed by lowering the speed loop gain (VGN1). However, cutting precision and cycle time will be sacrificed. (Refer to "10-2-2 Speed loop gain".) Thus, try to maintain the VGN1 as high as possible, and suppress the vibration using the vibration suppression functions. If the VGN1 is lowered and adjusted because vibration cannot be sufficiently suppressed with the vibration suppression functions, adjust the entire gain (including the position loop gain) again.

<Examples of vibration occurrence> • A fine vibration is felt when the machine is touched, or a groaning sound is heard. • Vibration or noise occurs during rapid traverse.

POINT Suppress the vibration using the vibration (machine resonance) suppression functions, and maintain the speed loop gain (SV005: VGN1) as high as possible.


10–11

(1) Machine resonance suppression filter

The machine resonance suppression filter will function at the set frequency. Use the D/A output function to output the current feedback and measure the resonance frequency. Note that the resonance frequency that can be measured is 0 to 500 Hz. For resonance exceeding 500 Hz, directly measure the phase current with a current probe, etc. When the machine resonance suppression filter is set, vibration may occur at a separate resonance frequency that existed latently at first. In this case, the servo control is stabilized when the machine resonance suppression filter depth is adjusted and the filter is adjusted so as not to operate more than required.

<Setting method> 1. Set the resonance frequency in the machine resonance suppression filter frequency (SV038:

FHz1, SV046: FHz2). 2. If the machine starts to vibrate at another frequency, raise (make shallower) the machine

resonance suppression filter depth compensation value (SV033: SSF2.nfd), and adjust to the optimum value at which the resonance can be eliminated.

3. When the vibration cannot be completely eliminated, use another vibration suppression control (jitter compensation, adaptive filter) in combination with the machine resonance suppression filter.

No. Abbrev. Parameter name Unit Explanation Setting range SV038 FHz1 Machine resonance

suppression filter center frequency 1

Hz Set the resonance frequency to be suppressed. (Valid at 36 or more). Set 0 when the filter is not to be used.

0 to 9000 (Hz)

SV046 FHz2 Machine resonance suppression filter center frequency 2

Hz Set the resonance frequency to be suppressed. (Valid at 36 or more). Set 0 when the filter is not to be used.

0 to 9000 (Hz)


The machine resonance suppression filter depth compensation is set with the following parameters.

15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 dos dis nfd2 nfd3 nfd1 zck bit Explanation

0 to 3

nfd1

Set the filter depth for the 1st machine resonance suppression filter. The control stability can be improved by setting amount equivalent to the resonance elimination amount. Deeper ← → Shallower Setting value 000 001 010 011 100 101 110 111 Depth (dB) −∞ −18 −12 −9 −6 −4 −3 −1

4 nfd3 The 3rd machine resonance suppression filter is validated. (Center frequency 1125Hz)

5 to 7

nfd2

Set the filter depth for the 2nd machine resonance suppression filter. The control stability can be improved by setting amount equivalent to the resonance elimination amount. Deeper ← → Shallower Setting value 000 001 010 011 100 101 110 111 Depth (dB) −∞ −18 −12 −9 −6 −4 −3 −1


10–12

(2) Adaptive filter (option function) The servo driver detects the machine resonance point and automatically sets the filter constant. Even if the ball screw and table position relation changes causing the resonance point to change, the filter will track these changes. Set the special servo function selection 1 (SV027: SSF1) bit 15 to activate the adaptive filter. If the adaptive filter's sensitivity is low and the machine resonance cannot be suppressed, set the (SV027: SSF1) bit 12 and 13.

No. Abbrev. Parameter name Explanation

SV027 SSF1 Activate the adaptive filter by setting the following parameters.

Special servo function selection 1 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

aflt zrn2 afrg afse ovs2 ovs1 lmc2 lmc

1 omr vfct2 vfct1 upc vcnt2 vcnt1

bit Meaning when "0" is set. Meaning when "1" is set. 15 aflt Adaptive filter stopped Adaptive filter activated 13 afrg 12 afse

00 : Normal adaptive filter sensitivity

11 : Increased adaptive filter sensitivity

POINT The adaptive filter is an optional function. If the option is not set in the CNC, alarm 37 (at power ON) or warning E4 Error Parameter No. 105 (2305 for M50/M64 Series CNC) will be output.

10-3-3 Improving the cutting surface precision

If the cutting surface precision or roundness is poor, improvements can be made by increasing the speed loop gain (VGN1, VIA) or by using the disturbance observer function.

<Examples of faults>

• The surface precision in the 45° direction of a taper or arc is poor.

• The load fluctuation during cutting is large, causing vibration or surface precision defects to occur.

POINT

Adjust by raising the speed loop gain equivalently to improve cutting surface precision, even if the measures differ. In this case, it is important how much the machine resonance can be controlled, so adjust making sufficient use of vibration suppression functions.

(1) Adjusting the speed loop gain (VGN1)

If the speed loop gain is increased, the cutting surface precision will be improved but the machine will resonate easily. The final VGN1 setting should be approx. 70 to 80% of the maximum value where resonance does not occur. (Refer to "10-2-2 (1) Setting the speed loop gain")

X

Y


10–13

(2) Adjusting the speed loop leading compensation (VIA) The VIA has a large influence on the position trackability, particularly during high-speed cutting (generally F1000 or more). Raising the setting value improves the position trackability, and the contour precision during high-speed cutting can be improved. For high-speed high-precision cutting machines, adjust so that a value equal to or higher than the standard value can be set. When the VIA is set lower than the standard value and set to a value differing between interpolation axes, the roundness precision may become worse (the circle may distort). This is due to differences occurring in the position trackability between interpolation axes. The distortion can be improved by matching the VIA with the smaller of the values. Note that because the position trackability is not improved, the surface precision will not be improved. (Refer to "10-2-2 (2) Setting the speed loop leading compensation")


SV005 VGN1 Speed loop gain Increase the value by 10 to 20% at a time. If the machine starts resonating, lower the value by 20 to 30% at a time. The setting value should be 70 to 80% of the value where resonance does not occur.

1 to 999

SV008 VIA Speed loop leading compensation

1364 is set as a standard. 1900 is set as a standard during SHG control. Adjust in increments of approx. 100. Raise the VIA and adjust to improve the contour tracking precision in high-speed cutting. If the position droop vibrates (10 to 20Hz), lower the VIA and adjust.

1 to 9999 (0.0687rad/s)

(3) Disturbance observer

The disturbance observer can reduce the effect caused by disturbance, frictional resistance or torsion vibration during cutting by estimating the disturbance thrust and compensating it. It also is effective in suppressing the vibration caused by speed leading compensation control.

<Setting method>

1) Adjust VGN1 to the value where vibration does not occur, and then lower it 10 to 20%. 2) Set the total movable mass (including motor mass) (SV037: JL). 3) Set the observer filter band (observer pole) in the disturbance observer 1 (SV043:OBS1), and

estimate the high frequency disturbance to suppress the vibration. Set 600 as a standard. 4) Set the observer gain in disturbance observer 2 (SV044:OBS2). The disturbance observer will

function here for the first time. Set 100 first, and if vibration does not occur, increase the setting by 50 at a time to increase the observer effect.

5) If vibration occurs, lower OBS1 by 50 at a time. The vibration can be eliminated by lowering OBS2, but the effect of the disturbance observer can be maintained by keeping OBS2 set to a high value.

No. Abbrev. Parameter name Unit Explanation Setting range

SV037 JL Total movable mass kg Set the total mass of the moving section with a kg unit. (Including the motor mass)

0 to 5000 (kg)

SV043 OBS1 Disturbance observer 1

rad/s Set the observer filter band (observer pole). Set 600 as a standard, and lower the setting by 50 at a time if vibration occurs.

0 to 1000 (rad)

SV044 OBS2 Disturbance observer 2

% Set the observer gain. Set 100 to 300 as a standard, and lower the setting if vibration occurs.

0 to 500 (%)


10–14

10-3-4 Improvement of protrusion at quadrant changeover The response delay (caused by non-sensitive band from friction, torsion, expansion/contraction, backlash, etc.) caused when the machine advance direction reverses is compensated with the lost motion compensation (LMC compensation) function. With this, the protrusions that occur with the quadrant changeover in the DBB measurement method, or the streaks that occur when the quadrant changes during circular cutting can be improved.

Circle cutting path before compensation Circle cutting path after compensation

(1) Lost motion compensation (LMC compensation) The lost motion compensation compensates the response delay during the reversal by adding the torque command set with the parameters when the speed direction changes. There are two methods for lost motion compensation. Type 2 is the standard method. (The explanation for type 1 method is omitted because it is interchangeable with the old method.)

<Setting method> 1) Set the special servo function selection 1 (SV027:SSF1) bit 9. (The LMC compensation type 2 will

start). 2) Set the compensation amount with a stall % (rated current % for the general-purpose motor) unit

in the lost motion compensation 1 (SV016:LMC1). The LMC1 setting value will be used for compensation in the positive and negative directions when SV041:LMC2 is 0.

3) If the compensation amount is to be changed in the direction to be compensated, set LMC2. The compensation direction setting will be as shown below with the CW/CCW setting in the CNC parameter. If only one direction is to be compensated, set the side not to be compensated as -1.

No. Abbrev. Parameter name Explanation SV027 SSF1 The lost motion compensation starts with the following parameter.


aflt zrn2 afrg afse ovs2 ovs1 lmc2 lmc1 omr vfct2 vfct1 upc vcnt2

vcnt1

bit No LMC LMC type 1 LMC type 2 Setting prohibited.

8 lmc1 0 1 0 1

9 lmc2 0 0 1 1

No. Abbrev. Parameter name Unit Explanation Setting

range SV016 LMC1 Lost motion

compensation 1 Stall % (rated current %)

While measuring the quadrant protrusion amount, adjust with a 5% unit. The ± direction setting value will be applied when LMC2 is set to 0.

–1 to 200 (%)

SV041 LMC2 Lost motion compensation 2

Stall % (rated current %)

Set 0 as a standard. Set this when the compensation amount is to be changed according to the direction.

–1 to 200 (%)

Compensation point CW CCW

A X axis: LMC2 X axis: LMC1

B Y axis: LMC1 Y axis: LMC2

C X axis: LMC1 X axis: LMC2

D Y axis: LMC2 Y axis: LMC1

Compensation

Cutting direction

+Y

-Y

+X -X

A The X axis command direction changes from + to –.

D The Y axis command direction changes from + to –.

B The Y axis command direction changes from – to +. C The X axis command direc-

tion changes from – to +.


10–15

<Adjustment method>

First confirm whether the axis to be compensated is an unbalance axis (vertical axis, slant axis). If it is an unbalance axis, carry out the adjustment after performing step "(2) Unbalance thrust compensation". Next, measure the frictional torque. Carry out reciprocation operation (approx. F1000) with the axis to be compensated and measure the load current % when fed at a constant speed on the CNC servo monitor screen. The frictional force of the machine at this time is expressed with the following expression. Frictional force % = (+ feed load current %) – (– feed load current %)

2

The standard setting value for the lost motion compensation 1 (LMC1) is double the frictional torque above.

Assume that the load current % was 25% in the + direction and –15% in the – direction when JOG feed was carried out at approx. F1000. The frictional force is as shown below, so 20% × 2 = 40% is set for LMC1. (LMC2 is left set at 0.) With this setting, 40% compensation will be carried out when the command reverses from the + direction to the - direction, and when the command reverses from the – direction to the + direction.

25 – (–15) 2

= 20%

For the final adjustment, measure the CNC sampling measurement (DBB measurement) or while carrying out actual cutting. If the compensation amount is insufficient, increase LMC1 or LMC2 by 5% at a time. Note that if the setting is too high, biting may occur.

Compensation 0 Optimum Too high

POINT

1. When either parameter SV016: LMC1 or SV041: LMC2 is set to 0, the same amount of compensation is carried out in both the positive and negative direction with the setting value of the other parameter (the parameter not set to 0).

2. To compensate in only one direction, set -1 in the parameter (LMC1 or LMC2) for the direction in which compensation is prohibited.

3. The value set based on the frictional force is the standard value for LMC compensation. The optimum compensation amount changes with the cutting conditions (cutting speed, cutting radius, blade type, workpiece material, etc.). Be sure to ultimately make test cuts matching the target cutting and determine the compensation amount.

(Example)


10–16

(2) Unbalance thrust compensation If the load force differs in the positive and negative directions such as with a vertical axis or slant axis, the thrust offset (SV032:TOF) is set to carry out accurate lost motion compensation.

<Setting method>

Measure the unbalance thrust. Carry out reciprocation operation (approx. F1000) with the axis to be compensated and measure the load current % when fed at a constant speed on the CNC servo monitor screen. The unbalance thrust at this time is expressed with the following expression.

Unbalance thrust = (+ feed load current %) – (– feed load current %) 2

The unbalance thrust value above is set for the thrust offset (TOF). If there is a difference in the protrusion amount according to the direction, make an adjustment with LMC2. Do not adjust with TOF.

Assume that the load current % was −40% in the + direction and −20% in the – direction when JOG feed was carried out at approx. F1000. The unbalance thrust is as shown below, so −30% is set for TOF.

−40 + (−20) 2

= 30%


SV032 TOF Thrust offset Stall % (rated current %)

Set this when carrying out lost motion compensation. Set the unbalance thrust amount.

–100 to 100

POINT Even when TOF is set, the thrust output characteristics of the motor and load current display of the CNC servo monitor will not change. Only LMC compensation characteristics are affected.

(Example)


10–17

(3) Adjusting the lost motion compensation timing If the speed loop gain has been lowered from the standard setting value because the machine rigidity is low or because machine resonance occurs easily, or when cutting at high speeds, the quadrant protrusion may appear later than the quadrant changeover point on the servo control. In this case, suppress the quadrant protrusion by setting the lost motion compensation timing (SV039: LMCD) to delay the LMC compensation.

<Adjustment method>

If a delay occurs in the quadrant protrusion in the circle or arc cutting as shown below in respect to the cutting direction when CNC sampling measurement (DBB measurement) or actual cutting is carried out, and the compensation appears before the protrusion position, set the lost motion compensation timing (SV039:LMCD). While measuring the arc path, increase LMCD by 10ms at a time, to find the timing that the protrusion and compensation position match.

Before timing delay compensation After timing delay compensation

No. Abbrev. Parameter name Unit Explanation Setting range SV039 LMCD Lost motion

compensation timing ms Set this when the lost motion compensation timing does not

match. Adjust while increasing the value by 10 at a time. 0 to 2000

(ms)

When the LMCD is gradually raised, a two-peaked contour may occur at the motor FB position DBB measurement. However, due to the influence of the cutter diameter in cutting such as end milling, the actual cutting surface becomes smooth. Because satisfactory cutting can be achieved even if this two-peaked contour occurs, consider the point where the protrusion becomes the smallest and finest possible without over compensating (bite-in) as the optimum setting.

Cutter center path

Actual cutting surface

Cutting direction

Quadrant changeover point

Point of LMC compensation execution

Cutter diameter

After compensation

Cutting direction


10–18

(4) Adjusting for feed forward control In LMC compensation, a model position considering the position loop gain is calculated based on the position command sent from the CNC, and compensation is carried out when the feed changes to that direction. When the CNC carries out feed forward (fwd) control, overshooting equivalent to the operation fraction unit occurs in the position commands, and the timing of the model position direction change may be mistaken. As a result, the LMC compensation timing may deviate, or compensation may be carried out two or more times. If feed forward control is carried out and the compensation does not operate correctly, adjust with the non-sensitive band (SV040: LMCT) during feed forward control. In this non-sensitive band control, overshooting of a set width or less is ignored. The model position direction change point is correctly recognized, and the LMC compensation is correctly executed. This parameter is meaningless when feed forward control is not being carried out.

<Adjustment method>

If the compensation timing deviates during feed forward control, increase the LMCT setting by 1µm at a time. Note that 2µm are set even when the LMCT is set to 0.


SV040 LMCT Non-sensitive band during feed forward control

µm This setting is valid only during feed forward control. 2 µm is set when this is set to 0. Adjust by increasing the value by 1 µm at a time.

0 ~ 100 (µm)

POINT Setting of the non-sensitive band (SV040: LMCT) during feed forward control is effective for improving overshooting compensation mis-operation during feed forward control.


10–19

10-3-5 Improvement of overshooting

The phenomenon when the machine position goes past or exceeds the command during feed stopping is called overshooting. Overshooting is compensated by overshooting compensation (OVS compensation). Overshooting occurs due to the following two causes.

1) Machine system torsion: Overshooting will occur mainly during rapid traverse positioning 2) Machine system friction: Overshooting will occur mainly during one pulse feed

Either phenomenon can be confirmed by measuring the position droop.

1) Overshooting during rapid traverse positioning 2) Overshooting during pulse feed

(1) Overshooting compensation (OVS compensation) In OVS compensation, the overshooting is suppressed by subtracting the thrust command set in the parameters when the motor stops. There are two types of OVS compensation. The standard method is type 2. OVS compensation type 3 has a compensation effect for the overshooting during either rapid traverse positioning or pulse feed. Note that there is no compensation if the next feed command has been issued before the motor positioning (stop). (Therefore, there is no compensation during circle cutting.) There is no compensation in the non-sensitive band when the CNC is carrying out feed forward control. To compensate overshooting during feed forward control, refer to the following section "(2) Adjusting for feed forward control".

<Setting and adjustment methods> 1) Set the special servo function selection 1 (SV027:SSF1) bit 11 (ovs2). (OVS compensation

type 2 will start.) 2) Observe the position droop waveform using the D/A output, and increase the overshoot

compensation 1 (SV031: OVS1) value 1% at a time. Set the smallest value where the overshooting does not occur. If SV042:OVS2 is 0, the overshooting will be compensated in both the positive/negative directions with the OVS1 setting value.

3) If the compensation amount is to be changed in the direction to be compensated, set the + direction compensation value in OVS1 and the – direction compensation value in OVS2. If only one direction is to be compensated, set the side not to be compensated as -1. The compensation direction setting will be as reversed with the CNC parameter CW/CCW setting.

POINT

In OVS compensation type 2, there is no compensation in the following cases. 1. There is no compensation if the next feed command has been issued before

the motor positioning (stop). (There is no compensation in circle cutting.) 2. There is no compensation when the CNC is carrying out feed forward (fwd)

control.

0

Position command

0 Position droop

Time

Overshoot

0

Speed FB

0 Position droop

Time

Overshoot


10–20

(2) Adjusting for feed forward control Use OVS compensation type 3 if overshooting is a problem in contour cutting during feed forward control. If OVS compensation type 3 is used to attempt to compensate overshooting, the overshooting may conversely become larger, or projections may appear during arc cutting. This is because overshooting equivalent to the operation fraction unit occurs in the position commands when the CNC is carrying out feed forward (fwd) control. Because of this, the OVS compensation recognizes a change in the command direction, and executes the compensation in the opposite direction. If the compensation is in the opposite direction when carrying out feed forward control, adjust with the non-sensitive band (SV034: SSF3 bit12 to 15: ovsn) during feed forward control. By ignoring overshooting of a set width in the ovsn or less, the command direction change point is correctly recognized, and the OVS compensation is correctly executed. This parameter is insignificant when feed forward control is not used.

<Adjustment method> If the OVS compensation is carried out in reverse during feed forward control, increase the LMCT setting by 1µm at a time. Note that 2µm are set even when the LMCT is set to 0.

POINT OVS compensation type 3 is used if overshooting is a problem with contour cutting during feed forward control.


SV027 SSF1 The overshooting compensation starts with the following parameter.


aflt zrn2 afrg afse ovs2 ovs1 lmc2 lmc1 omr vfct2 vfct1 upc vcnt2

vcnt1

bit Meaning when "0" is set. Meaning when "1" is set.

10 ovs1 Overshooting compensation type 2 stop

Overshooting compensation type 2 start

11 ovs2 Overshooting compensation type 3 stop

Overshooting compensation type 3 start


SV031 OVS1 Overshooting compensation 1


Increase the value by 1% at a time, and find the value where overshooting does not occur. When OVS2 is set to 0, the setting value will be applied in both the ± directions.

–1 to 100 (%)

SV042 OVS2 Overshooting compensation 2


Set 0 as a standard. Set this when the compensation amount is to be changed according to the direction.

–1 to 100 (%)


SV034 SSF3 The overshooting compensation starts with the following parameter.


ovsn linN toff os2 dcd test mohn has2 has1 bit Explanation

12 Set the non-sensitive band for the overshooting compensation type 3.

13 14 15

ovsn


10–21

POINT

1. When either parameter SV031: OVS1 or SV042: OVS2 is set to 0, the same amount of compensation is carried out in both the positive and negative direction, using the setting value of the other parameter (the parameter not set to 0).

2. To compensate in only one direction, set -1 in the parameter (OVS1 or OVS2) for the direction in which compensation is prohibited.

3. For contour cutting, the projection at the arc end point is compensated with OVS compensation. LMC compensation is carried out at the arc starting point.

Cutting direction

LMC compensation OVS compensation

Workpiece


10–22

10-3-6 Improvement of characteristics during acceleration/deceleration

(1) SHG control (option function) Because SHG control has a smoother response than conventional position controls, the acceleration/deceleration thrust (current FB) has more ideal output characteristics (A constant thrust is output during acceleration/deceleration.) The peak thrust is kept low by the same acceleration/deceleration time constant, enabling the time constant to be shortened. Refer to item "(3) SHG control" in section "10-2-3 Position loop gain" for details on setting SHG control.

No. Abbrev. Parameter name Setting ratio Setting example Explanation Setting range

SV003 (SV049)

PGN1 (PGN1sp) Position loop gain 1 1 23 26 33 38 47 1 to 200

(rad/s) SV004

(SV050) PGN2

(PGN2sp) Position loop gain 2 83

62 70 86 102 125 0 to 999

SV057 (SV058)

SHGC (SHGCsp) SHG control gain 6 140 160 187 225 281

Always set a combination of 3 parameters.

0 to 1200

SV008 VIA Speed loop leading compensation Set 1900 as a standard value during SHG control. 1 to 9999

SV015 FFC Acceleration feed forward gain Set 100 as a standard value during SHG control. 0 to 999

0

0

120

200

–200

–120

0

0

120

200

–200

–120

Acceleration/deceleration characteristics during conventional control

Speed command (mm/min.)

Current FB (stall current %)

Time

Time

Acceleration/deceleration characteristics during SHG control

Speed command (mm/min.)

Current FB (stall current %)

Time

Time


10–23

(2) Acceleration feed forward Vibration may occur at 10 to 20 Hz during acceleration/deceleration when a short time constant of 30 msec or less is applied, and a position loop gain (PGN1) higher than the general standard value or SHG control is used. This is because the thrust is insufficient when starting or when starting deceleration, and can be resolved by setting the acceleration feed forward gain (SV015:FFC). This is also effective in reducing the peak current (torque). While measuring the current command waveform, increase FFC by 50 to 100 at a time and set the value where vibration does not occur.

No FFC setting With FFC setting

Acceleration feed forward gain means that the speed loop gain during acceleration/deceleration is raised equivalently. Thus, the thrust (current command) required during acceleration/deceleration starts sooner. The synchronization precision will improve if the FFC of the delayed side axis is raised between axes for which high-precision synchronous control (such as synchronous tap control and superimposition control).


SV015 FFC Acceleration feed forward gain

% The standard setting value is 0. To improve the acceleration/deceleration characteristics, increase the value by 50 to 100 at a time. During SHG control, the standard setting value is 100.

1 to 999

POINT Overshooting occurs easily when a value above the standard value is set during SHG control.

Current command (%)

200

100

0

100 80 60 40 20 0 Time（ms）

200

100

0

100 80 60 40 20 0 Time（ms）


10–24

(3) Inductive voltage compensation The current loop response is improved by compensating the back electromotive force element induced by the motor feedrate. This improved the current command efficiency, and allows the acceleration/deceleration time constant to the shortened.

<Adjustment method> 1) While accelerating/decelerating at rapid traverse, adjust the inductive voltage compensation

gain (SV047:EC) so that the current FB peak is a few % smaller than the current command peak.

Inductive voltage compensation

No. Abbrev. Parameter name Unit Explanation Setting range SV047 EC Inductive voltage

compensation gain % Set 100% as a standard. Lower the gain if the current FB peak

exceeds the current command peak. 0 to 200

POINT If the current FB peak becomes larger than the current command peak (over compensation), an overcurrent (alarm 3A) will occur easily. Note that over compensation will occur easily if the movable mass is large.

0

0

120

200

–200

–120

Speed command (mm/min)

Current command (Rated current %)

No inductive voltage compensation

With inductive voltage compensation

Time

Time


10–25

10-4 Setting for emergency stop 10-4-1 Vertical axis drop prevention control

The vertical axis drop prevention control is a function that prevents the vertical axis from dropping due to a delay in the brake operation when an emergency stop occurs. The servo ready OFF will be delayed by the time set in the parameter from when the emergency stop occurs. Thus, the no-control time until the brakes activate can be eliminated.

POINT The CN20 connector on the servo drive unit can be used for mechanical brake control. Refer to section "7-2-12 Connection with mechanical brakes" for details on the connection with mechanical brakes.

(1) Working conditions

1) Emergency stop input : The drive side detects the emergency stop input signal, and enters this function mode.

2) CNC power OFF : The driver detects the power OFF message from the (when drive section power is ON) CNC, and enters this operation.

3) When alarm occurs : Note that the activity of this function differs according to the alarm. (Refer to the Table of driver alarm classes)

4) Input power OFF : Normally, the CNC power OFF signal is detected by (instantaneous power failure, etc.) the drive side, and this operation is entered in the same manner as item 2). However, in this mode where the input power is suddenly shut off, there may be no effect depending on the operation state of the axis supplied power from the input power voltage and power supply (axis connected with L+, L–).

CAUTION Note that drop prevention may not be possible in all conditions as noted above. To prevent dropping in all conditions, use a balance unit on the machine side, etc.

(2) Outline of function, and setting of parameters

When stopped ････････The driver's READY is turned OFF after the vertical axis drop prevention time (SV048) has passed.

During movement ･････Deceleration stop is carried out, and then the driver's READY is turned OFF after the longer of the vertical axis drop prevention time (SV048) or emergency stop max. delay time (SV055) has passed.

No. Abbrev. Name Details Setting range SV048 EMGrt Vertical axis drop

prevention time (ms) Set the READY OFF delay time at an emergency stop. Set a larger value than the brake operation time. When the input power is OFF, the set vertical axis drop prevention time may not necessarily be guaranteed.

0 to 2000 (ms)

SV055 EMGx Emergency stop max. delay time (ms)

Set the max. READY OFF delay time. Normally, the same value as SV048 is set. To turn READY OFF after decelerating to a stop, set the same value as SV056. Note that this is valid when SV056 is larger than SV048. If a value smaller than SV048 is input in the parameters, the same value as SV048 will be automatically set. When the input power is OFF, the set max. READY OFF time may not necessarily be guaranteed.

0 to 2000 (ms)

SV056 EMGt Time constant for deceleration control during emergency stop

When SV048 is set, deceleration stop is carried out during movement, so set this deceleration stop time constant. Set the same value as the rapid traverse time constant. When this parameter is set, constant inclination linear deceleration stop will be carried out at the emergency stop. If 0 is set, step stopping will be carried out.

0 to 2000 (ms)


10–26

CAUTION

1. If 0 is set for both SV048 and SV055, the drop prevention function will be invalidated.

2. SV048 and SV055 are available for each axis, but if the values differ for two axes in the same driver, the larger value will be validated.

3. If only SV048 is set, the deceleration stop will be step stop.


10–27

Tbd

EMGrtEMGrt＞Tbd

0

EMGt

EMGx

Emergency stop

Brake operation

Tbd: Brake operation delay time

Servo ON

Detect in-positionand turn servo OFF

Motor speed

Deceleration command

Emergency stop

Brake operation

Servo ON

Tbd Tbd: Brake operation delay time

Rapid traversespeed

Drop prevention function sequence for emergency stop

Deceleration stop function sequence for emergency stop

Speed command


10–28

(3) Adjustment procedures • Set the drop prevention function parameters in the vertical axis servo parameters SV048, 055

and 056. 1) Set the vertical axis parameter SV048 (vertical axis drop prevention time) to 50, 100, ...

while carrying out emergency stop, and set the value for which the drop amount is the minimum on the CNC screen. (There will be several um due to the brake play.)

2) Set SV056 (deceleration control during emergency stop time constant). Normally, set the same value as the rapid traverse time constant.

3) Set SV055 (emergency stop max. delay time). Normally, set the same value as SV048. To turn READY OFF after deceleration stop, set the same value as SV056. Note that this is valid when SV056 (deceleration control during emergency stop time constant) is larger than SV048 (vertical axis drop prevention time).

• If the axis controlling the power supply (axis to which CN4 cable is connected) that supplies the

power to the target vertical axis is another servo axis, set the servo parameters SV048, 055 and 056 for that axis to the same values as the vertical axis. (If there are multiple vertical axes, set the max. value.)

• When the 2-axis driver is a vertical axis or an axis controlling the power supply, set servo

parameters SV048, 055 and 056 for both the L and M axes. • If the axis controlling the power supply is the main axis, confirm that a compatible spindle driver

software version is being used, and set the spindle parameter SP033 bitF to 1. As explained above, when using an axis that controls the power supply or a 2-axis integrated driver, etc., caution must be taken when setting the parameters for each system. The methods for setting the parameters for each drive system are explained on the following pages.


10–29

1) When power supply control axis is main axis (Example; When vertical axis is Z axis) 1)-1: When vertical axis is 1-axis driver

X axis

(B-V14/V24) Y axis

(B-V14/V24) Z axis

(B-V14) Spindle (B-SP)

Axis

Parameter setting

Vertical axis 1-axis servo

driver Axis connected to

power supply

SV48 0 0 Set with adjustments

SV55 0 0 Set same value as SV48

SV56 0 0 Set same value as rapid traverse time constant

Spindle software version A5 or above is required. (Set the spindle parameters SP033 bitF to 1.)

1)-2: When vertical axis is 2-axis driver

X axis

(B-V14/V24) Y axis

(B-V24) Z axis


Axis

Parameter setting

2-axis servo

driver


driver Axis connected to

power supply

SV48 0 Set same value as Z axis

Set with adjustments


Set same value as SV48

SV56 0 Set same value as rapid traverse time constant

Set same value as rapid traverse time constant

Spindle software version A5 or above is required. (Set the spindle parameters SP033 bitF to 1.)

* When vertical axis is 2-axis driver, set for both L and M axes.

CNC

B-CVB-SP

X Y Z

B-V14/V24

B-V14

B-V14/V24

CN1A CN1B

CN4CN4

Spindle Power supply

CNC

X Y,Z Spindle Power supply

B-CVB-SP

B-V14/V24

B-V24

Set in the vertical axis servo parameters SV48, 55 and 56.

If the axis connected to the power supply that is supplying power to the vertical axis is the main axis, this process is required.


10–30

2) When power supply control axis is vertical axis servo axis (Example: When both vertical axis and axis connected to power supply are Z axis)

2)-1: When vertical axis is 1-axis driver X axis

(B-V14/V24) Y axis

(B-V14/V24) Z axis


Axis

Parameter setting

Vertical axis and axis connected to

power supply Separate power supply

connection (only spindle)

SV48 0 0 Set with adjustments

SV55 0 0 Set same value as SV48

SV56 0 0 Set same value as rapid traverse time constant

Does not relay on software.

2)-2: When vertical axis is 2-axis driver

X axis (B-V14/V24)

Y axis (B-V24)

Z axis (B-V24)

Spindle (B-SP)

Axis

Parameter setting

2-axis servo

driver


driver Separate power supply



Set with adjustments


Set same value as SV48





Spindle

CNC

X Y Z Power supply Power supply

B-CVB-V14/V24

B-V14

B-V14/V24

B-SPB-CV

Spindle

CNC

B-CV

Y, Z

B-V14/V24

B-V24

B-SPB-CV

Power supply Power supplyX

When the vertical axis and axis connected to the power supply are the same driver, only the vertical axis servo parameters need to be set.


10–31

3) When power supply control axis is different driver than vertical axis servo axis (Example: When vertical axis is Y axis, and axis connected to power supply is Z axis) 3)-1: When vertical axis and power supply axis are 1-axis driver

X axis

(B-V14/V24) Y axis

(B-V14) Z axis


Axis

Parameter setting

Vertical axis Axis connected to

power supply Separate power supply


SV48 0 Set with adjustments

Set same value as Y axis

SV55 0 Set same value as SV48





* When the vertical axis and power supply axis differ, the servo parameters must be set for both axes. 3)-2: When vertical axis and power supply axis are 2-axis driver

X axis

(B-V14/V24) Y axis

(B-V24) Z axis

(B-V24) A axis


Axis

Parameter setting

Vertical axis 2-axis servo driver

Axis connected to power supply

Separate power supply connection

(only spindle)












CNC

X Y Z SpindlePower supply Power supply

B-CVB-V14/V24

B-V14

B-V14

B-SPB-CV

CNC

X Y,A Z Spindle Power supplyPower supply

B-CVB-V14/V24

B-V14

B-V24

B-SPB-CV


10–32

3)-3: When amplifier connected to the power supply is a 2-axis driver

X axis

(B-V14/V24) Y axis

(B-V14) Z axis

(B-V24) A axis


Axis

Parameter setting

Vertical axis Power supply connected driver

2-axis servo driver Separate power

supply connection (only spindle)











* If the driver connected to the power supply is a 2-axis driver, set both the L and M axes.

CNC

Spindle Power supplyPower supply

B-CVB-V14/V24

B-V24

B-V14

B-SPB-CV

X Y Z,A


10–33

10-4-2 Deceleration control Basically, this MDS-B-V14L servo driver carries out dynamic brake stopping when an emergency stop occurs. However, if the deceleration stop function is validated, the motor will decelerate according to the set time constant while maintaining the READY ON state. READY will turn OFF after the motor stops, and the dynamic brakes will be activated. <Features>

1. When the movable mass is large, deceleration and stop are possible in a short using the dynamic brakes. (Stopping is possible with a basically normal acceleration/deceleration time constant.)

(1) Setting the deceleration control time constant

The time to stopping from the rapid traverse rate (rapid: axis specification parameter) is set in the deceleration control time constant (SV056: EMGt). A position loop step stop is carried out when 0 is set. When linear (straight line) acceleration/deceleration is selected for the rapid traverse, the same value as the acceleration/deceleration time constant (G0tL) becomes the standard value. When another acceleration/deceleration pattern is selected, set the rapid traverse to linear acceleration/deceleration. Adjust to the optimum acceleration/deceleration time constant, and set that value as the standard value.

<Operation> When an emergency stop occurs, the motor will decelerate at the same inclination from each speed.

No. Abbrev. Parameter name Unit Explanation Setting range SV055 EMGx Max. delay time for

emergency stop Ms Normally, the same value as SV056 EMGt is set.

Set 0 when not using the deceleration stop function or drop prevention function.

0 to 5000 (ms)

SV056 EMGt Deceleration control time constant

Ms Set the time to stop from rapid traverse rate (rapid). Set the same value as the rapid traverse acceleration/ deceleration time constant (G0tL) as a standard. Set 0 when not using the deceleration stop function.

0 to 5000 (ms)

POINT

1. The deceleration will not be controlled when a servo alarm that uses the dynamic brake stopping method occurs. Stopping is by the dynamic brake method regardless of the parameter setting.

2. When a power failure occurs, the stopping method may change over to a dynamic brake stop during deceleration control if the deceleration time constant is set comparatively long. This is because of low bus voltage in the driver.

CAUTION

If the deceleration control time constant (EMGt) is set longer than the acceleration/deceleration time constant, the overtravel point (stroke end point) may be exceeded. A collision may be caused on the machine end, so be careful.

RAPID

EMGt

Emergency stop occurrence

Constant inclination deceleration

Motor speed

Time

Motor brake control output (MBR)

Dynamic brakes

OFF ON

OFF ON


10–34

(2) Dynamic brake stop When the deceleration stop function is not used, the dynamic brakes will be used to stop. In a dynamic brake stop, the dynamic brakes operate at the same time the emergency stop occurs, and the motor brake control output also operates at the same time.

10-5 Collision detection The purpose of the collision detection function is to quickly detect a collision and decelerate to a stop. This suppresses the abnormal torque generated to the machine tool, and suppresses the occurrence of an abnormality. Impact during a collision cannot be prevented even when the collision detection function is used, so this function does not guarantee that the machine will not break and does not guarantee the machine accuracy after a collision. Thus, the conventional caution is required to prevent machine collisions from occurring. Collisions are detected with the following two methods. With either method, a servo alarm will occur after decelerating to a stop.

(1) Method 1 The required thrust is calculated from the position command issued from the CNC. The disturbance thrust is calculated from the difference with the actual thrust. When this disturbance thrust exceeds the collision detection level set with the parameters, the axis will decelerate to a stop with the driver's max. thrust. After stopping, an alarm will occur and the system will stop. Method 1 can be used only when using SHG control. (If not using SHG control, the load error alarm (58/59) will occur immediately during the acceleration/deceleration.) With method 1, the collision detection level can be set independently for the rapid traverse and cutting feed. The collision detection level during cutting feed is set 0 to 7 times (integer-fold) using the rapid traverse collision detection level as a reference. When 0-fold is set, the collision detection method 1 will not function during cutting feed.

(2) Method 2 The axis will stop with the driver's max. thrust when the current command exceeds the driver's max. performance. After stopping, an alarm will occur and the system will stop. Note that this can be ignored by setting the servo parameter SV035: SSF4/cl2n to 1.

OFF ON

OFF ON

Motor speed

Time

Motor brake control output (MBR)

Dynamic brakes

Emergency stop occurrence

Max. driver performance

Max. driver performance

G0 modal G1 modal

Estimated thrust

Actual thrust enabled range

Method 1 detection range

Speed

G0 modal collision detection level

Thrust offset

Frictional force




G1 modal collision detection level


10–35

<Setting and adjustment methods> 1. Confirm that SHG control is being used. 2. SV032: TOF Thrust offset Move the axis to be adjusted approx. F1000mm/mi with jog, etc., and check the load current

on the [I/F DIAGNOSIS screen, Servo Monitor]. If the current load during movement is positive, check the max. value. If negative, check the min. value. Set the average value of the + and - directions.

3. SV045: TRUB Frictional force Move the axis to be adjusted approx. F1000mm/min both directions with jog, etc., and check

the load current on the [I/F DIAGNOSIS screen, Servo Monitor]. Subtract the current load value for – direction movement from the current load value for + direction movement, and divide the result by 2. Set the absolute position of that value.

4. SV059: TCNV Estimated thrust gain Set SV035: SSF4/clt(bitF) of the axis to be adjusted to 1. Move the axis to be adjusted in both directions at the max. feedrate with jog, etc., until the

MPOF display on the [I/F DIAGNOSIS screen, Servo Monitor] stabilizes. Set the MPOF value displayed on the [I/F DIAGNOSIS screen, Servo Monitor] screen. Return SV035: SSF4/clt (bitF) to 0. 5. SV035: SSF4/cl2n (bitB) If the acceleration/deceleration time constant is small and the current is limited, set 1. 6. SV060: TLMT Collision detection level (For method 1, G0 modal) First, set 100. (If SV035: SSF4/clet is set to 1, the MPOF value will indicate the past 2-sec.

estimated disturbance thrust peak value, so this can be referred to for setting. Note that this displayed value is averaged, so first set a value that is approx. double the displayed value.)

Carry out no-load operation at the max. rapid traverse speed. If an alarm occurs, increment the setting unit by 20.

If an alarm does not occur, decrement the setting value by 10. Set a value that is approx. 1.5-times the limit value where an alarm does not occur. 7. SV035: SSF4/clG1 (bit12-14) Divide the max. cutting load by the SV060:TLMT setting value. (Round up the fraction). Set

this value.

(Example) When max. cutting load is 200% and SV060:TLMT setting value is 80% 200/80 = 2.5 The setting value is 3, so set 3xxx in SV035:SSF4.


SV035 SSF4 The collision detection is set with the following parameters.


clt clG1 cl2n clet cltq iup tdt bit Meaning when "0" is set. Meaning when "1" is set. 8,9 cltq Set the deceleration torque for collision detection.

10 clet Setting for normal use

The past 2-sec. estimated disturbance thrust peak value is displayed at MPOF on the Servo Monitor screen.

11 cl2n Setting for normal use Collision detection method 2 is invalidated.

12 to 14

clG1

Set the collision detection level for the collision detection method 1, G1 modal. When 0 is set: The method 1, G1 modal collision detection will not be carried out. When 1 to 7 is set: The method 1, G0 modal collision detection level will be set to a value obtained by multiplying (SV060: TLMT) by the set value.

15 clt Setting for normal use

The guide value for the SV059: TCNV setting value is displayed at MPOF on the Servo Monitor screen.


10–36


SV032 TOF Thrust offset Stall % (rated current %)

Set the unbalance thrust amount of an axis having an unbalanced thrust, such as a vertical axis, as a percentage (%) in respect to the stall rated current.

–100 to 100

SV045 TRUB Current compensation/ frictional force


When using the collision detection function, set the frictional force as a percentage in respect to the stall rated current. The low-order 8 bits are used. Set 0 when not using the collision detection function.

0 to 100

SV059 TCNV Estimated thrust gain

When using the collision detection function, set the estimated thrust gain. When SV035:SSFS4/clt is set to 1, the setting value guide will display at MPOF on the Servo Monitor screen. Set 0 when not using the collision detection function.

0 to 32767

SV060 TLMT G0 collision detection level


When using the collision detection function, set the collision detection level for the method G0 modal as a percentage in respect to the stall rated current. Set 0 when not using the collision detection function.

0 to 100

POINT

1. Even when validated, this function does not guarantee that the machine will not break and does not guarantee the machine accuracy after a collision. Thus, the conventional caution must be taken during machine operation to prevent accidents.

2. If the collision detection limit is set at the extreme limit, an incorrect detection may be made even in the normal state. Thus, set the collision detection level to a slightly larger value.

3. After adjusting the machine or replacing the motor or detector replaced during maintenance, adjust the collision detection related parameters again.

4. If the detector resolution has been changed due to replacement of the detector, or when the position control system has been changed (changed between the closed loop or semi-closed loop, etc.), the SV059: TCNV estimated thrust gain must be changed.


10–37

10-6 Parameter list

There are 64 servo parameters. The methods for setting and displaying the servo parameters differ on the CNC being used, so refer to the instruction manual for the respective CNC.

Class Name Abbrev. Descriptions Setting

screen B-Vx

compa-tibility

Chang-ing

method Setting unit Min.

unit Max. unit Machine

specifica-tions

Servo specifica-t

ions Adjust-me

nt

SV001 PC1 Motor side gear ratio Specifi-cations Default 1 32767

SV002 PC2 Machine side gear ratio Specifi-cations Default 1 32767

SV003 PGN1 Position loop gain 1 Specifi-cations Normal rad/s 1 200

SV004 PGN2 Position loop gain 2 Adjust-ment Normal rad/s 0 999

SV005 VGN1 Speed loop gain 1 Adjust-ment Normal 1 999

SV006 VGN2 Speed loop gain 2 Normal –1000 1000

SV007 VIL Speed loop delay compensation Adjust-ment Normal 0 32767

SV008 VIA Speed loop leading compensation Adjust-ment Normal 1 9999

SV009 IQA Current loop q axis compensation Normal 1 20480

SV010 IDA Current loop d axis compensation Normal 1 20480

SV011 IQG Current loop q axis gain Normal 1 4096

SV012 IDG Current loop d axis gain Normal 1 4096

SV013 ILMT Current limit value Normal Stall current % 0 999

SV014 ILMTsp Current limit value during special operation Normal Stall current % 0 999

SV015 FFC Acceleration feed forward gain Adjust-ment Normal % 0 999

SV016 LMC1 Lost motion compensation 1 Adjust-ment Normal Stall current % –1 200

SV017 SPEC Servo specifications Specifi-cations ∆ Default HEX setting ∗ ∗

SV018 PIT Linear motor pole pitch Specifi-cations Default mm 1 32767

SV019 RNG1 Position detector resolution Specifi-cations Default kp/PIT 1 9999

SV020 RNG2 Speed detector resolution Specifi-cations Default kp/PIT 1 9999

SV021 OLT Overload time constant Normal s 1 300

SV022 OLL Overload detection level Normal Stall current % 1 500

SV023 OD1 Excessive error detection width during servo ON Normal mm 0 32767

SV024 INP In-position detection width Normal µm 0 32767

SV025 MTYP Motor/detector type Specifi-cations ∆ Default HEX setting ∗ ∗

SV026 OD2 Excessive error detection width during servo OFF Normal mm 0 32767

SV027 SSF1 Special servo function selection 1 Specifi-cations ∆ Normal HEX setting ∗ ∗

SV028 MSFT Linear motor pole shift amount Default µm –30000 30000

SV029 VCS Speed loop gain, change start speed Normal mm/s 0 9999

SV030 IVC Current/voltage compensation Normal –32768 32767

SV031 OVS1 Overshooting compensation Adjust-ment Normal % –1 100

SV032 TOF Thrust offset Adjust-ment Normal Stall current % –100 100

SV033 SSF2 Special servo function selection 2 Specifi-cations ∆ Normal HEX setting ∗ ∗

SV034 SSF3 Special servo function selection 3 Normal HEX setting ∗ ∗

SV035 SSF4 Special servo function selection 4 Normal HEX setting ∗ ∗

SV036 PTYP Power supply type Specifi-cations Default HEX setting ∗ ∗

SV037 JL Total movable mass during linear motor Adjust-ment Normal kg 0 5000


Adjust-ment ∆ Normal Hz 0 9000

SV039 LMCD Lost motion compensation timing Normal ms 0 2000

SV040 LMCT Current compensation/lost motion compensation non-sensitive band

Adjust-ment Normal –/µm –32768 32767

SV041 LMC2 Lost motion compensation 2 Adjust-ment Normal Stall current % –1 200

SV042 OVS2 Overshooting compensation 2 Normal Stall current % –1 100

SV043 OBS1 Observer 1 Normal rad 0 1000

SV044 OBS2 Observer 2 Normal % 0 500

SV045 TRUB Current compensation/frictional force Normal –/Stall current % –32768 32767


Adjust-ment Normal Hz 0 9000

SV047 EC1 Inductive voltage compensation Normal % ∗ ∗

SV048 EMGrt Brake operation delay time Normal ms 0 2000

SV049 PGN1sp Position loop gain 1 during special operation Normal rad/s 1 200

SV050 PGN2sp Position loop gain 2 during special operation Normal rad/s 0 999

SV051 DFBT Normal ms 0 9999

SV052 DFBN Normal µm 0 9999

SV053 OD3 Excessive error detection width during special operation Normal mm 0 32767

SV054 ORE CN3 connection system, overrun detection width Normal mm –1 32767


10–38

Name Abbrev. Descriptions Setting screen

B-Vx compa-t

ibility

Chang-ing

method Setting unit Min.

unit Max. unit Class

SV055 EMGx Emergency stop max. delay time Normal ms 0 2000

SV056 EMGt Deceleration time constant during emergency stop Normal ms 0 2000

SV057 SHGC SHG control gain Normal rad/s 0 1200

SV058 SHGCsp SHG control gain during special operation Normal rad/s 0 1200

SV059 TCNV Estimated thrust gain Normal 0 32767

SV060 TLMT G0 collision detection level Normal Stall current % 0 500

SV061 DA1NO D/A output channel 1 data No./ DC excitation default excitation level ∆ Normal ∗ ∗

SV062 DA2NO D/A output channel 2 data No./ DC excitation final excitation level ∆ Normal ∗ ∗

SV063 DA1MPY D/A output channel 1 output scale/ DC excitation default excitation time ∆ Normal /ms ∗ ∗

SV064 DA2MPY D/A output channel 2 output scale Normal ∗ ∗

Setting screen Specifications: Set on the Servo Specifications screen. Adjustment: Set on the Servo Adjustment screen

B-Vx compatibility : No changes from MDS-B-Vx. : The same settings as MDS-B-Vx can be used, but the details will be

changed.

∆ : The latest parameters with MDS-B-Vx4 are included. : New parameters with MDS-B-Vx4.

Changing method Default: The setting value is validated when the CNC power is turned ON. Constant: The setting value is validated when changed.


10–39

Details of parameters

No. Abbrev. Details Setting range (Unit)

SV001 PC1 Set 1 for the linear motor system. 1 to 32767 SV002 PC2 Set 1 for the linear motor system. 1 to 32767 SV003 PGN1 Set the position loop gain in increments of 1.

Normally, 47 is set. 1 to 200 (rad/s)

SV004 PGN2 When carrying out SHG control, set together with SV057: SHGC. Normally, 0 is set when not using 125.

0 to 999 (rad/s)

SV005 VGN1 Set the speed loop gain. 150 is set as a standard. If increased, the response will increase but the vibration and noise will increase.

1 to 999

SV006 VGN2 If the noise is bothersome at high speeds, such as during rapid traverse, set the speed loop gain (smaller than VGN1) for high speeds (1.2-times the rated speed). The speed to start dropping the speed gain is set with SV029:VCS. Set 0 when not using this function.

–1000 to 1000

SV007 VIL Set this when a limit cycle occurs, of if overshooting occurs during positioning. Set 0 when not using this function. Related parameters: SV027:SSF1/vcnt1, vcnt2

0 to 32767

SV008 VIA Set the speed loop advance compensation. 1 to 9999 (0.0687rad/s)

SV009 IQA Set the current loop internal compensation. The setting value is fixed according to the motor being used. (Refer to section 9-2-4 List of standard parameters for each motor.)

1 to 20480

SV010 IDA Set the current loop internal compensation. The setting value is fixed according to the motor being used. (Refer to section 9-2-4 List of standard parameters for each motor.)

1 to 20480

SV011 IGQ Set the current loop internal compensation. The setting value is fixed according to the motor being used. (Refer to section 9-2-4 List of standard parameters for each motor.)

1 to 4096

SV012 IDG Set the current loop internal compensation. The setting value is fixed according to the motor being used. (Refer to section 9-2-4 List of standard parameters for each motor.)

1 to 4096

SV013 ILMT Set the current limit value as a percentage (%) in respect to the stall rated current. To use to the driver's max. thrust, set 800. (Limit value in both + and – directions.)

0 to 999 (Stall rated current %)

SV014 ILMTsp Set the current limit value for special operations (absolute position default setting, stopper operation, etc.) as a percentage (%) in respect to the stall rated current. To use to the driver's max. thrust, set 800. (Limit value in both + and – directions.)


SV015 FFC Set this when the overshooting amount during feed forward control, or the relative error during synchronous control, etc., is large. Set to 0 when not using this function.

0 to 999 (%)

Set this parameter if the protrusion (caused by non-sensitive band from friction, torsion, backlash, etc.) is large when the arc quadrant is changed. This is valid only when lost motion compensation (SV027: lmc1, lmc2) are selected.

–1 to 200

Type 1 SV027:SSF1/lmc1=1/lmc2=0 Protrusions during low-speed interpolation can be eliminated with this type of compensation. The compensation gain will be 0 when 0 is set. 100% compensation will be carried out when 100 is set.

0 to 200 (%)

Type 2 SV027:SSF1/lmc1=0/lmc2=1 This type is the standard for the MDS Series. Use this type during high-speed high-accuracy interpolation if sufficient compensation is not possible with type 1. Set as a percentage (%) in respect to the stall rated current.


SV016 LMC1

To change the compensation gain (type 1) or compensation amount (type 2) according to the direction. To set a different value according to the command direction, set this in addition to SV041: LMC2. Set the value for changing the command speed from the – to + direction (during command direction CW) in SV016:LMC1. Set the value for changing the command speed from the + to – direction (during command direction CW) in SV041:LMC2. When –1 is set, compensation will not be carried out when the command speed direction changes.

(Motor rated speed × 1.2) VLM 0

VGN2

VGN1

VCS


10–40



HEX setting

SV018 PIT Set the pole pitch. 1 to 32767 (mm)

SV019 RNG1 Set the resolution per pole pitch of the detector used for position control. 1 to 9999 (kp/PIT)

SV020 RNG2 Set the resolution per pole pitch of the detector used for speed control. 1 to 9999 (kp/PIT)

SV021 OLT Set the detection time constant for overload 1 (OL1) Normally, set 60.

1 to 300 (s)

SV022 OLL Set the current detection level of overload 1 (OL1) as a percentage (%) in respect to the stall rated current. Normally, set 150.


SV023 OD1 Set the excessive error detection width for servo ON. Setting method SV023:OD1 = SV026:OD2 = SV053:OD3 = F / ( 60 × PGN1 ) × 0.5 F : Max. rapid traverse speed (mm/min) PGN1 : Position loop gain 1 (rad/s) When 0 is set, the excessive error will not be detected at servo ON.

0 to 32767 (mm)

SV024 INP Set the in-position detection width. Normally, set 50.

0 to 32767 (µm)




1 dfbx Not used for linear motor. Set to "0".

2 seqh READY/servo ON time, normal mode READY/servo ON time, time reduction mode

3 Set to "0". 4 fdir Main side (CN2 connector) feedback

forward polarity Main side (CN2 connector) feedback reverse polarity

5 vdir Set to "0". 6 vmh Normal processing mode High-speed processing mode

∗ For the linear system, set the high-speed processing mode.

7 abs Incremental position detection Absolute position detection 8 mp 9 mpt3

Not used for linear motor. Set to "0".

A drvup Combination with standard motor driver Set when using a combination with a driver having a capacity one rank above or below the standard motor drive.

B drvall Normal setting Set when using a combination of driver having a capacity different from the standard motor driver.

C D E F

spm Special motor selection Standard linear motor : 6 Special linear motor : 7 Refer to 9-2-1 (5) List of motor types.

OD1


10–41


SV025 MTYP Motor/detector type

HEX setting

SV026 OD2 Set the excessive error detection width for servo OFF. Normally, the same value as SV023:OD1 is set. When 0 is set, the excessive error will not be detected at servo OFF.

0 to 32767 (mm)


HEX setting

∗ Note 1 When afse (bitC) is set to "1", also set afrg (bitD) to "1".

SV028 MSFT Set the pole shift amount. –30000 to 30000 (µm)

SV029 VCS If the noise is bothersome during high-speeds, such as during rapid traverse, set the speed loop gain's drop start motor speed. The speed loop gain drop target speed loop gain is set in SV006: VGN2. Set to 0 when not using this function.

0 to 9999 (mm/s)

SV030 IVC • Voltage non-sensitive band compensation: The low-order 8 digits are used. • Current bias: The high-order 8 digits are used. (Icx) This is used in combination with the SV040 and SV045 high-order 8 digits.

–32768 to 32767

SV031 OVS1 Set this if overshooting occurs during deceleration stop with control using the submicron control or system using CN3. The overshooting will be improved as the value is increased. Normally, set this as approx. 2 to 10 (%) (percentage in respect to stall rated current). (Increment the value in 2% increments and find the value where overshooting does not occur.) This is valid only when overshoot compensation (SV027: SSF1/ovs1, ovs2) is selected.

–1 to 100 (Stall rated current %)

F E D C B A 9 8 7 6 5 4 3 2 1 0 pen ent mtyp

bit Name Meaning when "0" is set Meaning when "1" is set 0 1 2 3 4 5 6 7

mtyp Set the motor type. (Refer to 7-201 (6) List of motor types.)

8 9 A B

ent Set the speed detector type. (Refer to 9-2-1 (6) List of detector types.)

C D E F

Pen Set the position detector type. (Refer to 9-2-1 (6) List of detector types.)

F E D C B A 9 8 7 6 5 4 3 2 1 0 aflt zrn2 afrg afse ovs2 ovs1 lmc2 lmc1 omr vfct2 vfct1 upc vcnt2 vcnt1

bit Name Meaning when "0" is set Meaning when "1" is set 0 vcnt1 1 vcnt2

00: Delay compensation changeover invalid

01: Delay compensation changeover type 1

10: Delay compensation changeover type 2

11: Spare

2 upc Start torque compensation invalid Start torque compensation valid 3 Set to "0". 4 vfct1 5 vfct2

00: Jitter compensation invalid 01: Jitter compensation 1 pulse

10: Jitter compensation 2 pulse 11: Jitter compensation 3 pulse

6 Set to "0". 7 omr OMR control invalid OMR control valid 8 lmc1 9 lmc2

00: Lost motion compensation valid 01: Lost motion compensation type 1

10: Lost motion compensation type 2 11: Spare

A ovs1 B ovs2

00: Overshoot compensation invalid 01: Overshoot compensation type 1

10: Overshoot compensation type 2 11: Overshoot compensation type 3

C afse Setting for normal use Adaptive filter sensitivity increase *Note 1

D afrg Setting for normal use Set this when the adaptive filter is effective in the speed band.

E zrn2 Reference point return type 1 Reference point return type 2 F aflt Adaptive filter invalid Adaptive filter valid


10–42


SV032 TOF Set the unbalance thrust amount of an axis having an unbalanced thrust, such as a vertical axis, as a percentage in respect to the stall rated current. This is used when SV027: SSF1/lmc1, lmc2 or SV027: SSF1/vcnt1, vcnt2 is set.

–100 to 100


HEX setting


HEX setting

F E D C B A 9 8 7 6 5 4 3 2 1 0 dos dis nfd2 nf3 nfd1 zck

bit Name Meaning when "0" is set Meaning when "1" is set 0 zck Z phase check valid (part of alarm 42) Z phase check invalid 1 2

3

nfd1 Adjust the damping mount of the 1st machine resonance suppression filter. The effect of the machine resonance suppression filter will drop as the setting value is increased, and the effect on the speed control will drop. 000: –∞ 010: –12dB 100: –6dB 110: –3dB 001: –18dB 011: –9dB 101: –4dB 111: –1dB

4 nf3 Validate the 3rd machine resonance suppression filter. (Center frequency fixed to 1125Hz)

5 6

7

nfd2 Adjust the damping mount of the 2nd machine resonance suppression filter. The effect of the machine resonance suppression filter will drop as the setting value is increased, and the effect on the speed control will drop. 000: –∞ 010: –12dB 100: –6dB 110: –3dB 001: –18dB 011: –9dB 101: –4dB 111: –1dB

8 9 A B

dis Digital signal input selection Set this to 0000.

C D E F

dos Digital signal output selection 0000: For normal use 0001: Specified speed signal output

F E D C B A 9 8 7 6 5 4 3 2 1 0 ovsn linN toff os2 dcd test mohn has2 (has1)

bit Name Meaning when "0" is set Meaning when "1" is set 0 has1 Setting for normal use (HAS control 1 valid, high-speed

compatible) 1 has2 Setting for normal use HAS control 2 valid, overshooting

compatible 2 mohn Setting for normal use Ignore MDS-B-HR motor thermal error 3 test Setting for normal use Default test (Errors are sensitively

detected) 4 dcd Setting for normal use DC excitation mode

Use this for setting up the linear motor. 5 Set to "0". 6 os2 7 toff

Not used for linear motor. Set to "0".

8 9 A B

linN Set the No. of axes connected in parallel when using the linear motor. When 0 is set, the No. is interpreted as 1 axis.

C D E F

ovsn Set the overshoot compensation type 3 non-sensitive band.


10–43



HEX setting

SV036 PTYP Power supply type

HEX setting

SV037 JL Set the total mass of the moving section (including the motor mass) with a kg unit. 0 to 5000 (kg)

SV038 FHz1 Set the center frequency of the 1st machine resonance suppression filter. Set a value that is 36Hz or more. Set 0 when not using this function. When setting a low frequency that is 100Hz, also set SV033:SSF2/nfd1.

0 to 9000 (Hz)

SV039 LMCD Set this when the lost motion compensation timing does not match. Adjust while incrementing in 10(ms) units.

0 to 2000 (ms)

F E D C B A 9 8 7 6 5 4 3 2 1 0 clt clG1 cl2n clet cltq iup tdt

bit Name Meaning when "0" is set Meaning when "1" is set 0 1 2 3 4 5

tdt Td creation time setting (driver-fixed) Setting time (µs) = (tdt+1) × 0.569 Setting time when 0 is set Less than 7kW: 5.69µsec, 7kW or more: 8.52µs When tdt < 9, the setting is handled as tdt = 0. Normally, set 0.

6 iup Setting for normal use Do not set (For special applications) 7 Set to "0". 8 9

cltq Set the deceleration torque for collision detection. 00: 100% 01: 90% 10: 80% 11: 70%

A clet Setting for normal use The past 2-sec. estimated disturbance thrust peak value is displayed at MPOF on the Servo Monitor screen.

B cl2n Setting for normal use Collision detection method 2 is invalidated.

C D

E

clG1 Set the collision detection level for the collision detection method 1, G1 modal. When 0 is set : The method 1, G1 modal collision detection will not be carried out. When 1 to 7 is set : The method 1, G0 modal collision detection level will be set to a value obtained by multiplying (SV060: TLMT) by the set value.

F clt Setting for normal use The guide value for the SV059: TCNV

setting value is displayed at MPOF on the Servo Monitor screen.

F E D C B A 9 8 7 6 5 4 3 2 1 0 amp rtyp ptyp

bit Name Meaning when "0" is set Meaning when "1" is set 0 1 2 3 4 5 6 7

ptyp Set the power supply type. (Refer to 9-2-1 (7) List of power supply types.)

8 9 A B

rtyp Set 0 if the power supply unit is a power regeneration type. If the power supply unit is a resistance regeneration type, set the type of resistor being used. (Refer to 9-2-1 (7) List of power supply types.)

C D E F

amp Set the driver's model No. 0:MDS-B-V14/V24,MDS-B-V1/V2/SP,MDS-A-V1 / V2 / SP 1:MDS-A-SVJ 2:MDS-A-SPJ


10–44


SV040 LMCT • Set the lost motion compensation non-sensitive band. The low-order 8 digits are used. Set this when the lost motion compensation timing does not match during feed forward control.

• Current bias: The high-order 8 digits are used. (Icy) This is used in combination with the SV030 and SV045 high-order 8 digits.

• Lost motion compensation non-sensitive band 0 to 100 (µm)

∗ Setting range: –32768 to 32767

SV041 LMC2 Normally set this to 0. Set this with SV016: LMC1 when setting the lost motion compensation's gain (type 1) or compensation amount (type 2) to different values according to the command direction. Set the value for changing the command speed from the – to + direction (during command direction CW) in SV016:LMC1. Set the value for changing the command speed from the + to – direction (during command direction CW) in SV041:LMC2. When –1 is set, compensation will not be carried out when the command speed direction changes. This is valid only when lost motion compensation (SV027: lmc1, lmc2) is selected.

–1 to 200 (%)

(Stall rated current %)

SV042 OVS2 Overshoot compensation 2 Set the overshoot compensation amount for unidirectional movement (command direction CW). When 0 is set, the value set for SV031: OVS1 will be set. When –1 is set, compensation will not be carried out during unidirectional movement. This is valid only when lost motion compensation (SV027: lmc1, lmc2) is selected.

–1 to 200 (Stall rated current %)

SV043 OBS1 Observer 1 Set the observer pole. Normally, set this to approx. 628 (rad). SV037: JL and SV044: OBS2 must also be set to use the observer function. Set 0 when not using this function.

0 to 1000 (rad)

SV044 OBS2 Observer 2 Set the execution gain of the observer. Normally set 100. SV037: JL and SV043: OBS1 must also be set to use the observer function. Set 0 when not using this function.

0 to 500 (%)

SV045 TRUB • Set the frictional force as a percentage in respect to the stall rated current when using the collision detection function. The low-order 8 bits are used. Set 0 when not using the collision detection function.

• Current bias: The high-order 8 bits are used. (Ib1) This is used in combination with the SV030 and SV045 high-order 8 digits.

• Collision detection, friction 0 to 100 (Stall rated current %)

∗ Setting range: –32768 to 32767

SV046 FHz2 Set the center frequency of the 2nd machine resonance suppression filter. Set a value that is 36Hz or more. Set 0 when not using this function. When setting a low frequency that is 100Hz, also set SV033:SSF2/nfd2.

0 to 2250 (Hz)

SV047 EC1 Induction voltage compensation Set the execution gain for the induction voltage compensation. Normally, 100 is set.

–32768 to 32767 (%)

SV048 EMGrt Set the brake operation delay time when using the drop prevention function. Set a value larger than the actual brake operation function. Set 0 when not using the drop prevention function. SV055: EMGx, SV056: EMGt must also be set when using this function.

0 to 9000 (ms)

SV049 PGN1sp Set the position loop gain for special operations (synchronous tap, interpolation with spindle C axis, etc.). Norm ally, set the spindle position loop gain.

1 to 200 (rad/s)

SV050 PGN2sp Set this with SV058:SHGCsp when carrying out SHG control during special operations (synchronous tap, interpolation with spindle C axis, etc.).

0 to 999 (rad/s)

SV051 DFBT This is not used with the linear system. Set to 0.

0 to 9999 (ms)

SV052 DFBN This is not used with the linear system. Set to 0.

0 to 9999 (µm)

SV053 OD3 Set the excessive error detection width at servo ON for special operations (absolute position default setting, stopper operation, etc.). When 0 is set, the excessive error will not be detected during special operations and servo ON.

0 to 32767 (mm)

SV054 ORE Set the overrun detection width for the closed loop. When –1 is set, the overrun will not be detected. When 0 is set, the overrun will be detected with a 2(mm) width.

–1 to 32767 (mm)

SV055 EMGx Set the max. delay time for emergency stop when using the drop prevention function. Normally, the same value as SV056: EMGt is set. Set 0 when not using the drop prevention function.

0 to 2000 (ms)


10–45


SV056 EMGt Set the deceleration time constant from the max. rapid traverse speed when using the drop prevention function. Normally, the same value as the normal CNC G0 acceleration/deceleration time constant is set. Set 0 when not using the drop prevention function.

0 to 2000 (ms)

SV057 SHGC Set this with SV004: PGN2 when carrying out SGH control. Normally, set this to 281. Set 0 when not using this function.

0 to 1200 (rad/s)

SV058 SHGCsp Set this with SV050: PGN2sp when carrying out SHG control during special operations (synchronous tap, interpolation with spindle C axis, etc.). Set 0 when not using this function.

0 to 1200 (rad/s)

SV059 TCNV Set the estimated thrust gain when using the collision detection function. If 1 is set for SV035: SSF4/clt, the guide for the setting value will display at MPOF on the Servo Monitor screen. Set 0 when not using the collision detection function.

0 to 32767

SV060 TLMT Set the collision detection level for method 1 G0 modal as a percentage in respect to the stall rated current when using the collision detection function. Set 0 when not using the collision detection function.


SV061 DA1NO Set the output data No. of the D/A output channel 1. When –1 is set, D/A output will not be carried out for that axis. Set the default excitation level for DC excitation. Set –250 when starting DC excitation.

–32768 to 32767

SV062 DA2NO Set the output data No. of the D/A output channel 2. When –1 is set, D/A output will not be carried out for that axis. Set the default excitation level for DC excitation. Set –250 when starting DC excitation.

–32768 to 32767

SV063 DA1MPY Set the output scale of the D/A output channel 1. The output scale is (setting value)/256. When 0 is set, it is interpreted as 256. (Output scale 1-fold) Set the default excitation time for DC excitation. (ms) Normally, 500 is set.

–32768 to 32767

SV064 DA2MPY Set the output scale of the D/A output channel 2. The output scale is (setting value)/256. When 0 is set, it is interpreted as 256. (Output scale 1-fold)

–32768 to 32767

11–1

Chapter 11 Troubleshooting

11-1 Points of caution and confirmation.......................................................... 11-2 11-2 Troubleshooting at start up ...................................................................... 11-3 11-3 List of servo alarms and warnings........................................................... 11-4 11-4 Alarm details .............................................................................................. 11-6 11-5 LED display Nos. at memory error ........................................................... 11-8 11-6 Error parameter Nos. at initial parameter error....................................... 11-8 11-7 Troubleshooting for each servo alarm..................................................... 11-9


11–2

11-1 Points of caution and confirmation If an error occurs in the servo system, the servo warning or servo alarm will occur. When a servo warning or alarm occurs, check the state while observing the following points, and inspect or remedy the unit according to the details given in this section.

CAUTION

1. This servo system uses a large capacity electrolytic capacitor. When the CHARGE lamp on the front of the power supply unit (MDS-B-CV, MDS-A-CR) in the system is lit, there is a residual voltage. Take special care to prevent accidents such as electric shocks and short-circuits. (The voltage will remain for several minutes after the power is turned OFF.)

2. The conductivity in the driver cannot be checked due to the structure. 3. Do not carry out a mega test as the driver could be damaged.

<Points of confirmation>

1. What is the alarm code display? 2. Can the error or trouble be repeated? (Check alarm history) 3. Is the motor and servo driver temperature and ambient temperature normal? 4. Are the servo driver, control unit and motor grounded? 5. Was the unit accelerating, decelerating or running at a set speed? What was the speed? 6. Is there any difference during forward and backward run? 7. Was there a momentary power failure? 8. Did the trouble occur during a specific operation or command? 9. At what frequency does the trouble occur? 10. Is a load applied or removed? 11. Has the driver unit been replaced, parts replaced or emergency measures taken? 12. How many years has the unit been operating? 13. Is the power voltage normal? Does the state change greatly according to the time band?

LED display during servo alarm

LED display during servo warning

F1 (flicker) F + axis No.

37 (flicker) Alarm No.

Not lit F1 (flicker) F + axis No.

37 (flicker) Alarm No.

9F Warning No.

F1 F + axis No.

F1 F + axis No.

9F Warning No.

Not lit


11–3

11-2 Troubleshooting at start up If the CNC system does not start up correctly and a system error occurs when the CNC power is turned ON, the servo driver may not have been started up correctly. Confirm the LED display on the driver, and take measures according to this section.

LED

display Symptom Cause of occurrence Investigation method Remedy

The amplifier axis No. setting is incorrect.

Is there any other driver that has the same axis No. set?

Set correctly.

The CNC setting is incorrect. Is the No. of CNC controlled axes correct?

Set correctly.

Is the connector (CN1A, CN1B) disconnected?

Connect correctly.

AA Initial communication with the CNC was not completed correctly.

Communication with CNC is incorrect.

Is the cable broken? Check the conductivity with a tester.

Replace the cable.

The axis is not used, the setting is for use inhibiting.

Is the axis setting rotary switch set to "7" to "F"?

Set correctly.

Is the connector (CN1A, CN1B) disconnected?

Connect correctly.

Ab Initial communication with the CNC was not carried out. Communication with CNC is

incorrect. Is the cable broken? Check the conductivity with a tester

Replace the cable.


11–4

11-3 List of servo alarms and warnings No Abbrev. Name RS A/C No Abbrev. Name RS A/C 10 50 OL1 Overload detection 1 NR A 11 ASE Axis selection error AR V4 51 OL2 Overload detection 2 NR A 12 ME Memory error AR C 52 OD1 Excessive error 1 (at servo ON) NR A 13 SWE Software processing error PR C 53 OD2 Excessive error 2 (at servo OFF) NR A 14 SWE2 Software processing error 2 PR C 54 OD3 Excessive error 3 (no power) NR A 15 55 16 RD1 Pole position detection error 1 PR BV 56 17 ADE A/D converter error PR A 57 18 WAT Initial communication error PR A 58 CLG0 Collision detection method 1 - G0 NR A 19 59 CLG1 Collision detection method 1 - G1 NR A 1A Stei Initial communication error (SUB) PR A 5A CLT2 Collision detection method 2 NR A 1B Scpu CPU error (SUB) PR A 5B 1C Sled EPROM/LED error (SUB) PR A 5C ORFE Orientation feedback error NR SP 1D Sdat Data error (SUB) PR A 5D 1E Sohe ROM-RAM/thermal error (SUB) PR A 5E 1F Stre Serial detector communication error (SUB) PR A 5F 20 NS1 No signal 1 PR BV 60 0 Instantaneous power failure PR R 21 NS2 No signal 2 PR V4 61 1 Power module overcurrent PR V 22 62 2 23 OSE Excessive speed deflection PR SP 63 3 Auxiliary circuit error PR V 24 64 4 25 ABSE Absolute position lost AR V4 65 5 Rush relay error PR V/R 26 NAE Non-used axis error PR V4 66 6 27 SCcpu Scale CPU error (SUB) PR A 67 7 Open phase PR V 28 Sosp Scale overspeed (SUB) PR A 68 8 Watch dog AR V/R

29 Sabs Absolute position detection circuit error (SUB) PR A 69 9 Ground fault PR V

2A Sinc Incremental position detection circuit error (SUB) PR A 6A A Contactor melting PR V 2B SCPU CPU error PR A 6B B Rush relay melting PR V/R 2C SLED EEPROM/LED error PR A 6C C Main circuit error PR V/R 2D SDAT Data error PR A 6D D 2E SRRE ROM-RAM error PR A 6E E Memory error AR V/R 2F STRE Serial detector communication error PR A 6F F AD error (PS error) AR V/R 30 OR Over-regeneration PR SVJ 70 G 31 OS Overspeed PR A 71 H Instantaneous power failure/external emergency stop NR V 32 PMOC Overcurrent (IPM error) PR A 72 I 33 OV Over voltage PR SVJ 73 J Over-regeneration PR R 34 DP CNC communication CRC error PR C 74 K Regenerative resistor overheat PR R 35 DE CNC communication data error PR A 75 L Overvoltage NR V/R 36 TE CNC communication communication error PR C 76 M External emergency stop setting error AR V 37 PE Initial parameter error PR A 77 N Power module (V)/fin (R) overheat PR V/R 38 TP1 CNC communication protocol error 1 PR C 78 39 TP2 CNC communication protocol error 2 PR A 79 3A OC Overcurrent PR A 7A 3B PMOH Overheat (IPM error) PR A 7B 3C 7C 3D 7D 3E 7E 3F 7F 40 KE1 A-TK unit changeover error PR SP 80 HCN HR unit connection error PR A 41 KE2 A-TK unit communication error PR SP 81 HHS HR unit HSS communication error PR A 42 FE1 Feedback error 1 PR V4 82 NSP Power supply no signal PR AV 43 FE2 Feedback error 2 PR A 83 HSC HR unit scale judgment error PR A 44 CAXC C axis changeover alarm NR SP 84 HCPU HR unit CPU error AR A 45 85 HDAT HR unit data error PR A 46 OHM Motor overheat NR A 86 HMAG HR unit pole error PR A 47 87 48 SCCPU Scale CPU error PR A 88 WD Watch dog AR C 49 SOSP Scale overspeed PR A 89 Hcn HR unit connection error (SUB) PR A 4A SABS Absolute position detection circuit error PR A 8A Hhs HR unit HSS communication error (SUB) PR A 4B SINC Incremental position detection circuit error PR A 8B 4C 8C Hsc HR unit scale judgment error (SUB) PR A 4D 8D Hcpu HR unit CPU error (SUB) AR A 4E 8E Hdat HR unit data error (SUB) PR A 4F 8F Hmag HR unit pole error (SUB) PR A


11–5

No Abbrev. Name RS A/C No Abbrev. Name RS A/C 90 WST Low-speed serial initial communication error PR V4 E0 WOR Over-regeneration warning * SVJ 91 WAS Low-speed serial communication error * V4 E1 WOL Overload warning * A 92 WAF Low-speed serial protocol error * V4 E2 93 WAM Absolute position fluctuation PR A E3 WAC Absolute position counter warning * V4 94 E4 WPE Parameter error warning * A 95 E5 96 MPE MP scale feedback error * V4 E6 AXE Control axis removal warning * A 97 MPO MP scale offset fluctuation PR V4 E7 NCE CNC emergency stop * C 98 E8 O Over-regeneration warning * V/R 99 E9 P Instantaneous stop warning * V 9A EA Q External emergency stop input * V 9B WMS HR unit pole shift warning * A EB R 9C WMG HR unit pole warning * A EC S 9D Wmg HR unit pole warning (SUB) * A ED T 9E Wan High serial multi-rotation counter error * V4 EE U 9F WAB Battery voltage drop * V4 EF V A0 00 A1 01 FLASH, programming error A2 02 FLASH, erase error A3 03 Vpp error A4 04 Check sum error A5 05 Compare error A6 06 A7 07

A8 WTW Turret indexing command error warning * SP 08 Bank designation error

A9 09 Initial address error AA CNC initial communication No. 1 phase wait 0A Bank changeover error AB CNC initial communication No. 1 phase wait 0B Address error AC CNC initial communication No. 2 phase wait 0C Reception timeout AD CNC initial communication No. 3 phase wait 0D AE CNC initial communication No. 4 phase wait 0E AF Spare 0F

When rewriting

the software

Command sequence error Bn During READY OFF (n is the control axis No.) Dn During servo ON (n is the control axis No.) Cn During servo OFF (n is the control axis No.) Fn Control axis No. display (n is the control axis No.)

Note 1) RS: PR: Reset by turning CNC power OFF, AR: Reset by turning servo driver power OFF, *: This is a warning display, and the servo does not turn OFF. Note 2) A/C: A: Alarm that occurs for each axis, C: Common alarm in driver, SP: Spindle alarm, SVJ:MDS-A-SVJ alarm, AV: MDS-A-Vx alarm, BV: MDS-B-Vx alarm, V4: MDS-B-Vx4 alarm, V: Power supply regeneration power supply

alarm, R: Regenerative resistance power supply alarm


11–6

11-4 Alarm details Servo alarms No. Abbrev. Name Details RS A/C 12 ME Memory error An error was detected in the memory IC/FBIC during the self-check

carried out when the driver power was turned ON. (Refer to 11-5. LED display Nos. at memory error.)

AR C

13 SWE Software processing error The software data process did not end within the specified time. PR C 14 SWE2 Software processing error 2 The current processing processor is not operating correctly. PR C 17 ADE A/D converter error An error was detected in the current detection A/D converter during

the self check by the driver. PR A

18 WAT Serial detector Initial communication error

Initial communication was not possible with the detector in the system using a high-speed serial detector for the MAIN side detector.

PR A

1A Stei Serial detector Initial communication error (SUB)

Initial communication was not possible with the detector in the system using a hig h-speed serial detector for the SUB side detector.

PR A

1B Scpu CPU error (SUB) An error was detected in the data stored in the EEPROM of an absolute position linear scale connected to the SUB side.

PR A

1C Sled EPROM/LED error (SUB) An error was detected in the EEPROM of an absolute position linear position linear scale connected to the SUB side.

PR A

1D Sdat Data error (SUB) An error was detected within one rotation position of an absolute position linear position linear scale connected to the SUB side.

PR A

1E Sohe ROM-RAM/thermal error (SUB) A ROM/RAM error was detected in the absolute position linear scale connected to the SUB side.

PR A

1F Stre Serial detector communication error (SUB)

Communication was cut off with the high-speed serial detector connected to the SUB side.

PR A

27 SCcpu Absolute position detector Scale CPU error (SUB)

The CPU of the absolute position linear scale connected to the SUB side is not operating correctly.

PR A

28 Sosp Absolute position detector Scale overspeed (SUB)

The absolute position liner scale connected to the SUB side detected a speed of 45m/s or more when the CNC power was turned ON.

PR A

29 Sabs Absolute position detection circuit error (SUB)

An error was detected in the scale or scale side circuit of the absolute position linear scale connected to the SUB side.

PR A

2A Sinc Incremental position detection circuit error (SUB)

A speed exceeding the max. movement speed of the absolute position linear scale connected to the SUB side was detected.

PR A

2B SCPU CPU error An error was detected in the data stored in the EEPROM of an absolute position linear scale connected to the MAIN side.

PR A

2C SLED EEPROM/LED error An error was detected in the EEPROM of an absolute position linear position linear scale connected to the MAIN side.

PR A

2D SDAT Data error An error was detected within one rotation position of an absolute position linear position linear scale connected to the MAIN side.

PR A

2E SRRE ROM-RAM error A ROM/RAM error was detected in the absolute position linear scale connected to the MAIN side.

PR A

2F STRE Serial detector communication error

Communication was cut off with the high-speed serial detector connect ed to the MAIN side.

PR A

31 OS Over speed A speed exceeding the linear scale's tolerable speed was detected. PR A 32 PMOC IPM error (Overcurrent) The IPM used for the inverter detected an overcurrent. PR A 34 DP CNC communication CRC error An error was detected in the data sent from the CNC to the driver. PR C 35 DE CNC communication data error An error was detected in the movement command data from the CNC. PR A 36 TE CNC communication

communication error The communication from the CNC was cut off. PR C

37 PE Initial parameter error An illegal parameter was detected in the parameters sent when the CNC power was turned ON. (Refer to 11-6. Error parameter Nos. at initial parameter error.)

PR A

38 TP1 CNC communication protocol error 1

An error was detected in the communication frame sent from the CNC. PR C

39 TP2 CNC communication protocol error 2

An error was detected in the axis information data sent from the CNC. PR A

3A OC Overcurrent An excessive current was detected in the motor drive current. PR A 3B PMOH IPM error (Overheat) The IPM used for the inverter detected overheating. PR A 43 FE2 Feedback error 2 An excessive deviation of the feedback amount for the MAIN side

detector and SUB side detected was detected in the 2-scale 2-motor (2-amplifier) control.

PR A

46 OHM Motor overheat A temperature error was detected in the motor being driven. NR A 48 SCCPU Scale CPU error The CPU in the absolute position linear scale connected to the MAIN

side is not operating correctly. PR A


11–7

No. Abbrev. Name Details RS A/C 49 SOSP Scale overspeed The absolute position liner scale connected to the MAIN side detected

a speed of 45m/s or more when the CNC power was turned ON. PR A

4A SABS Absolute position detection circuit error

An error was detected in the scale or scale side circuit of the absolute position linear scale connected to the MAIN side.

PR A

4B SINC Incremental position detection circuit error

A speed exceeding the max. movement speed of the absolute position linear scale connected to the MAIN side was detected.

PR A

50 OL1 Overload detection 1 The servomotor or servo driver load level obtained from the motor current reached the overload level set with the overload detection level (SV022:OLL).

NR A

51 OL2 Overload detection 2 A current command exceeding 95% of the driver's max. capacity continued for 1 sec. or more.

NR A

52 OD1 Excessive error 1 (at servo ON) The difference of the ideal position and actual position exceeded the parameter SV023:OD1 (or SV053:OD3) at servo ON.

NR A

53 OD2 Excessive error 2 (at servo OFF) The difference of the ideal position and actual position exceeded parameter SV026:OD2 at servo OFF.

NR A

54 OD3 Excessive error 3 (no power) The motor current is not flowing when the excessive error alarm 1 was detected. This occurs when the power line connection is incorrect or broken, or when there is no bus voltage.

NR A

58 CLE0 Collision detection method A collision detection method 1 error was detected during the G0 modal (rapid traverse).

NR A

59 CLE1 Collision detection method 1 A collision detection method 1 error was detected during the G1 modal (cutting feed).

NR A

5A CLE2 Collision detection method 2 A collision detection method 2 error was detected. NR A 6F PSE Power supply alarm The power supply is not connected.

An error was detected in the power supply AD converter. AR C

80 HCN HR unit connection error An incorrect connection or cable breakage was detected in the MDS-B-HR connected to the MAIN side.

PR A

81 HHS HR error HSS communication error

The MDS-B-HR connected to the MAIN side detected an error in the communication with the absolute position linear scale.

PR A

83 HSC HR unit scale judgment error The MDS-B-HR connected to the MAIN side could not judge the analog frequency of the connected linear scale.

PR A

84 HCPU HR unit CPU error The CPU of the MDS-B-HR connected to the MAIN side is not operating correctly.

AR A

85 HDAT HR unit data error An error was detected in the analog interpolation data of the MDS-B-HR connected to the MAIN side.

PR A

86 HMAG HR unit pole error An error was detected in the pole data of the MDS-B-HR connected to the MAIN side.

PR A

88 WD Watch dog The servo system is not operating correctly. AR C 89 Hcn HR unit connection error (SUB) An incorrect connection or cable breakage was detected in the

MDS-B-HR connected to the SUB side. PR A

8A Hhs HR unit HSS communication error (SUB)

The MDS-B-HR connected to the SUB side detected an error in the communication with the absolute position linear scale.

PR A

8C Hsc HR unit scale judgment error (SUB)

The MDS-B-HR connected to the SUB side could not judge the analog frequency of the connected linear scale.

PR A

8D Hcpu HR unit CPU error (SUB) The CPU of the MDS-B-HR connected to the SUB side is not operating correctly.

AR A

8E Hdat HR unit data error (SUB) An error was detected in the analog interpolation data of the MDS-B-HR connected to the SUB side.

PR A

8F Hmag HR unit pole error (SUB) An error was detected in the pole data of the MDS-B-HR connected to the SUB side.

PR A

Servo warnings No. Abbrev. Name Details RS A/C 98 WAM Absolute position fluctuation A fluctuation exceeding the tolerable value was detected in the

absolute position detected when the CNC power is turned ON. * A

9B WMS HR unit pole shift warning An error was detected in the pole shift amount set in SV028 (MSFT). * A 9C WMG HR unit pole warning An error was detected in the pole position data of the MDS-B-HR

connected to the MAIN side after passing the Z phase. * A

9D Wmg HR unit pole warning (SUB) An error was detected in the pole position data of the MDS-B-HR connected to the SUB side after passing the Z phase.

* A

E1 WOL Overload warning An level 80% of the overload alarm 1 was detected. * A E4 WPE Parameter error warning A parameter exceeding the setting range was set. * A E6 AXE Control axis removal warning The control axis is being removed. * A E7 NCE CNC emergency stop The CNC is in the emergency stop state. * C


11–8

11-5 LED display Nos. at memory error

When a memory error (alarm 12) occurs, in most cases the connection with the CNC is not being executed. Normally, if the connection is not executed even when the connected with the CNC, check whether a memory error (alarm 12) has occurred by reading the LED display on the servo driver. The faulty section can be pinpointed by reading the No. displayed on the LED. (Refer to the following table.)

No. Details Time of occurrence Alarm display – Power PCB ID error When CNC power is turned ON Normal alarm display

01 LSI internal RAM error 1 02 LSI internal RAM error 2 03 LSI transmission buffer error 04 LSI reception buffer error 05 External SRAM error 11 LSI timing status error 21 LSI encoder I/F counter error L axis MAIN 22 LSI encoder I/F counter error L axis SUB 23 LSI encoder I/F counter error L axis MAIN 24 LSI encoder I/F counter error L axis SUB 31 External FLASH boot code error 1 32 External FLASH check sum error 1 33 External FLASH boot code error 2 34 External FLASH check sum error 2 41 CPU internal RAM error 1

When servo driver power is turned ON

42 CPU internal RAM error 2 51 Driver model error

When CNC power is turned ON

12 and No. flicker on LED (Not connected with CNC)

11-6 Error parameter Nos. at initial parameter error

When an initial parameter error (alarm 37) occurs, the erroneous parameter is displayed on the CNC Diagnosis screen. The display method differs according to the CNC being used, so refer to the instruction manual for the respective CNC. The No. displayed here is normally the parameter No. (SV00xx). In addition, there is a special 3-digit No. (Refer to following table.) In this case, multiple related parameters are occurring, so correctly set the related parameters.

No. Details Related parameter 69 The max. rapid traverse speed setting value set in the CNC is incorrect.

This normally will not occur, and is a problem in the CNC system software. CNC axis parameter rapid

71 The max. cutting speed setting value set in the CNC is incorrect. This normally will not occur, and is a problem in the CNC system software.

CNC axis parameter clamp

101 The constants used with the following functions are overflowing. Electronic gears Position loop gain Speed feedback conversion Confirm that each related parameter is correctly set.

SV001:PC1,SV002:PC2 SV003:PGN1,SV018:PIT SV019:RNG1,SV020:RNG2 SV049:PGN1sp

102 Turn the absolute position detection parameter OFF. The connected detector is an incremental specification detector, so to carry out absolute position detection, connect an absolute position specification detector.

SV017:SPEC,SV025:MTYP

103 There is no servo option. The closed loop (including ball screw end detection) and dual feedback control function are options.

SV025:MTYP/pen SV017:SPEC/dfbx

104 There is no servo option. The SHG control function is an option.

SV057:SHGC SV058:SHGCsp

105 There is no servo option. The adaptive filter function is an option.

SV027:SSF1/aflt


11–9

11-7 Troubleshooting for each servo alarm

[Alarm/warning check timing] f1: When servo driver power is turned ON f2: When CNC power supply is turned ON (emergency stop ON) f3: During normal operation (servo ON) f4: During axis removal (ready ON, servo OFF)

(Note) Note that warning "93" could occur even when the axis is reinstalled after removal.

Alarm check timing f1 f2 f3 f4

Alarm No. 12

Memory error: Error in drive unit memory IC (SRAM, FROM)

– – – Investigation details Investigation results Remedies

The error is always repeated. Replace the drive unit. 1 Check the repeata bility. The state returns to normal once, but occurs sometimes thereafter.

Investigate item 2.

No abnormality is found in particular. Replace the drive unit. 2 Check if there is any abnormality in the unit's ambient environment. (Ex. Ambient temperature, noise, grounding)

An abnormality was found in the ambient environment.

Take remedies according to the causes of the abnormality. Ex. High temperature ... Check the cooling fan. Incomplete grounding .… Additionally ground.


Alarm No. 13

Software process error: The driver's software processing time did not end within the specified time, or an illegal IT process was carried out.

– Investigation details Investigation results Remedies

The version was changed. Try replacing with the drive unit containing the original software version.

1 Check whether the servo software version was changed recently.

The version was not changed. Investigate item 2. The error is always repeated. Replace the drive unit. 2 Check the repeatability. The state returns to normal once, but occurs sometimes thereafter.

Investigate item 3.





Alarm No. 14

Software processing error 2: The current loop process, of the driver software processing times, did not end within the specified time.


The version was changed. Try replacing with the drive unit containing the original software version.

1 Check whether the servo software version was changed recently.

The version was not changed. Investigate item 2. The error is always repeated. Replace the drive unit. 2 Check the repeatability. The state returns to normal once, but occurs sometimes thereafter.

Investigate item 3.





11–10


Alarm No. 17

A/D converter error: There is an error in the drive unit's A/D converter.


The error is always repeated. Replace the drive unit. 1 Check the repeatability. The state returns to normal once, but occurs sometimes thereafter.

Investigate item 2.





Alarm No. 18

Initial communication error: Initial communication was not possible with the detector in the system using a high-speed serial detector for the MAIN side detector.


The value is not set correctly. Correctly set VO205. 1 Check the servo parameter (SV025) setting value. The value is set correctly. Investigate item 2.

The connector is disconnected (or loose).

Correctly install. 2 Wiggle the connectors by hand to check whether the detector connectors (driver side and detector side) are disconnected.

The connector is not disconnected. Investigate item 3.

There is a connection fault. Replace the detector cable. 3 Turn the power OFF, and check the detector cable connection with a tester. The connection is normal. Investigate item 4.

The alarm is on the driver side. Replace the drive unit. 4 Connect to another normal axis driver, and check whether the fault is on the driver side or detector side.

The alarm is on the detector side. Investigate item 5.

No abnormality is found in particular. Replace the detector. 5 Check if there is any abnormality in the unit's ambient environment. (Ex. Ambient temperature, noise, grounding)


Take remedies according to the causes of the abnormality. Ex. High temperature ... Check the cooling fan. Incomplete grounding …. Additionally ground.


Alarm No. 1A

Serial detector initial communication error (SUB): Initial communication was not possible with the detector in the system using a high-speed serial detector for the SUB side detector.


1 Check the alarm No. "18" items.

CAUTION

To prevent trouble, when changing the motor and driver combination, avoid driving a driver with a larger capacity than the specified driver using the motor. The motor could be demagnetized. Note that this combination can be used for checking in the emergency stop state. The motor can be driven with a driver with a capacity smaller than the specifications.


11–11


Alarm No. 1B

CPU error (SUB): An error was detected in the data stored in the EEPROM of an absolute position linear scale connected to the SUB side.



Correctly install. 1 Wiggle the connectors by hand to check whether the absolute position linear scale connectors (driver side and scale side) are disconnected.



The alarm is on the driver side. Replace the drive unit. 3 Connect to another normal axis driver, and check whether the fault is on the driver side or scale side.

The alarm is on the absolute position linear scale side.

Investigate item 4.

No abnormality is found in particular. Replace the absolute position linear scale. 4 Check if there is any abnormality in the unit's ambient environment. (Ex. Ambient temperature, noise, grounding)




Alarm No. 1C

EEPROM/LED error (SUB): An error was detected in the EEPROM of an absolute position linear position linear scale connected to the SUB side.


1 Check the alarm No. "1B" items.


Alarm No. 1D

Data error (SUB): An error was detected within one rotation position of an absolute position linear position linear scale connected to the SUB side.




Alarm No. 1E

ROM, RAM/thermal error (SUB): A ROM/RAM error was detected in the absolute position linear scale connected to the SUB side.




Alarm No. 1F

Serial detector communication error (SUB) Communication was cut off with the detector in the absolute position scale connected to the SUB side.


1 Check items 2 and following for alarm No. "18".


11–12


Alarm No. 27

Scale CPU error (SUB): The CPU of the absolute position linear scale connected to the SUB side is not operating correctly.



Correctly install. 1 Wiggle the connectors by hand to check whether the absolute position linear scale connectors (unit side and scale side) are disconnected.



The alarm is on the unit side. Replace the drive unit. 3 Connect to another normal axis unit, and check whether the fault is on the unit side or scale side.


Investigate item 4.





Alarm No. 28

Scale overspeed (SUB): The absolute position liner scale connected to the SUB side detected a speed of 45m/sec or more when the CNC power was turned ON.


The system is not the absolute position linear scale specifications.

Correctly set the SV025: MTYP parameter.

1 Check that the system is an absolute position linear scale specification system. The system is the absolute position

linear scale specifications. Investigate item 2.

The machine was operating. Check the motor's mechanical brakes and machine system.

2 Check whether the machine was operating when the alarm occurred.

The machine was not operating. Investigate item 3. The connector is disconnected (or loose).




The alarm is on the unit side. Replace the drive unit. 5 Connect to another normal axis unit, and check whether the fault is on the unit side or detector side.


Investigate item 6.



Take remedies according to the causes of the abnormality. Ex. High temperature ... Check the cooling fan. Incomplete grounding .... Additionally ground.

CAUTION



11–13


Alarm No. 29

Absolute position detection circuit error (SUB): An error was detected in the scale or scale side circuit of the absolute position linear scale connected to the SUB side.




Alarm No. 2A

Incremental position detection circuit error (SUB): A speed exceeding the max. movement speed of the absolute position linear scale connected to the SUB side was detected.


The machine was operating. Investigate item 3. 1 Check whether the machine was operating when the alarm occurred. The machine was not operating. Investigate item 2.

The machine was operating. Investigate item 3. 2 Check whether the operation is normal at low-speeds. The machine was not operating. Check the precautions for turning the

power ON. • Wiring check • Parameter check







Investigate item 6.

No abnormality is found in particular. Replace the motor (the absolute position linear scale).

6 Check if there is any abnormality in the unit's ambient environment. (Ex. Ambient temperature, noise, grounding)




Alarm No. 2B

CPU error: An error was detected in the data stored in the EEPROM of an absolute position linear scale connected to the MAIN side.


1 Check items 3 and following for alarm No. "2A".


Alarm No. 2C

EEPROM/LED error: An error was detected in the EEPROM of an absolute position linear position linear scale connected to the MAIN side.




11–14


Alarm No. 2D

Date error: An error was detected within one rotation position of an absolute position linear position linear scale connected to the MAIN side.




Alarm No. 2E

ROM/RAM error: A ROM/RAM error was detected in the absolute position linear scale connected to the MAIN side.




Alarm No. 2F

Serial detector communication error: Communication was cut off with detector of the absolute position linear scale connected to the MAIN side.




Alarm No. 31

Overspeed: Movement was carried out at a speed exceeding the linear motor's tolerable speed.





The speed is too high. Lower the speed to below the rated speed.

3 Check whether the rapid traverse speed is too high.

The speed is set below the rated speed. Investigate item 4. A value that is 80% or more of the max. value is displayed.

Reduce the rapid traverse time constant so that the current value on the Servo Monitor screen is 80% or less of the max. value during rapid traverse acceleration/deceleration.

4 Check whether the acceleration/ deceleration constant is too small. • Check the current value display on

the Servo Monitor screen.

The value is 80% or less of the max. value.

Investigate item 5.


CAUTION



11–15


Alarm No. 32

Power module error (Overcurrent): The IPM used for the inverter detected an overcurrent.


The phases are short circuited or there is no continuity.

Replace the UVW wires. 1 Check whether the unit's output U, V and W phases are short circuited. • Disconnect the U V W connection

from the terminal block and the motor's cannon plug, and check between UVW with a tester.

The phases are normal. Investigate item 2.


Replace the UVW wires. 2 Check whether there is a ground fault in the UVW wires. • Check between the UVW wires and

ground with a tester in the state given in item 1.

The phases are normal. Investigate item 3.


Replace the motor. 3 Check whether there is a ground fault in the motor. • Check between the motor's UVW

wires and ground with a tester (megger) in the state given in item 1.

The phases are normal. (same level as other axes)

Investigate item 4.

The settings are incorrect. Correctly set. 4 Check the servo parameter setting values. Refer to the adjustment procedures.

The settings are correct. Investigate item 5.


Correctly install. 5 Wiggle the connectors by hand to check whether the detector connectors (unit side and detector side) are disconnected.



The alarm is not repeated. Investigate item 9. The alarm is repeated sometimes. Investigate item 9.

7 Check the repeatability.

The alarm is always repeated. Investigate item 8. The alarm is on the unit side. Replace the drive unit. 8 Connect to another normal axis driver,

and check whether the fault is on the unit side or scale side.

The alarm is on the detector. Replace the motor (the detector).

No abnormality is found in particular. Monitor the state for a while. 9 Check if there is any abnormality in the unit's ambient environment. (Ex. Ambient temperature, noise, grounding)




11–16

Alarm check timing f1 F2 f3 f4

Alarm No. 34

CNC communication CRC error: An error was detected in the data sent from the CNC to the driver.



Correctly install. 1 Wiggle the connection cables by hand between the CNC and drive unit, between the battery unit and drive unit, and between the drive units to see if any of the connectors are loose. Check whether any force is being applied on the connectors.


There is a connection fault. Replace the communication cable. 2 Turn the power OFF, and check the connection of the communication cables listed in item 1. Try replacing the cables with normal ones.

The connection is normal. Investigate item 3.

The version was changed. Replace with the original software version. 3 Check whether the CNC and drive unit software versions have been changed recently.

The version was not changed. Investigate item 4.

The alarm is on the unit side. Replace the drive unit. 4 Try replacing with another unit to determine whether the fault is on the CNC side or units side.

The driver is not the cause. Investigate item 5.

No abnormality is found in particular. Replace the MCP card on the CNC side. 5 Check if there is any abnormality in the unit's ambient environment. (Ex. Ambient temperature, noise, grounding)




Alarm No. 35

CNC communication data error: An error was detected in the movement command data from the CNC.

– – Investigation details Investigation results Remedies



Alarm No. 36

CNC communication, communication error: The communication from the CNC was cut off.



CAUTION



11–17


Alarm No. 37

Initial parameter error: An illegal parameter was detected in the parameters sent when the CNC power was turned ON.


The parameter is incorrect. Set to the correct parameter. The parameter is correct. Investigate item 3.

1 The illegal parameter No. will appear on the CNC Diagnosis screen, so check that servo parameter with the parameter adjustment procedures. The parameter No. is not 1 to 64. If the No. is 101, check investigation item

2. The combination is illegal, or the setting range is exceeded.

Refer to the parameter settings in the specifications and to the supplements, and set to the correct values.

2 Check whether the servo parameter (PIT) (RNG1) (RNG2) (PC1) and (PC2) combination is illegal, or whether the setting range is exceeded. The parameter is correct. Investigate item 3.



Alarm No. 38

CNC communication protocol error 1: An error was detected in the communication frame sent from the CNC.




Alarm No. 39

CNC communication protocol error 2 An error was detected in the axis information data sent from the CNC.




Alarm No. 3A

Overcurrent: An excessive current was detected in the motor drive current.




Alarm No. 3B

Power module error (Overheat): The IPM used for the inverter detected overheating.


Check the heat radiation environment. (1) Rotation of fan on back of unit. The fan is not rotating correctly. Replace the fan. (2) Contamination of heat radiation fins

on back of unit. The heat radiation fins are heavily contaminated with cutting oil or cutting chips, etc.

Clean the fin. Make sure that cutting oil and cutting chips do not get on the fins.

(3) Measurement of unit's ambient temperature.

The temperature exceeds 55°C. Reconsider the panel ventilation and cooling.

1

Nothing corresponds. Investigate item 2. The grounding is incomplete. If a certain device operations, the alarm occurs easily.

Correctly ground. Take noise measures for the device on the left.

2 Check for effects in the unit's ambient environment. (Ex. Ambient temperature, noise, grounding) No problems. Replace the drive unit.


11–18


Alarm No. 43

Feedback error 2: An excessive deviation of the feedback amount for the MAIN side detector and SUB side detected was detected in the 2-scale 2-motor (2-amplifier) control.




Alarm No. 46

Motor overheat: A temperature error was detected in the motor being driven.


The specifications do not provide the motor thermal.

Investigate item 2. 1 Check whether the specifications provide the motor thermal.

The specifications provide the motor thermal.

Investigate item 3.

The parameter is not set correctly. Correctly set SV034/mohm 2 Check the servo parameter (SV034) setting value. The parameter is set correctly. Investigate item 3.

The alarm is repeated within one minute after startup.

Investigate item 5. 3 Check the repeatability.

The alarm is repeated sometimes after operating for a while.

Investigate item 4.

The motor is hot. Ease the operation pattern. ↓ If the problem is not solved, check investigation item 5.

4 Check the motor temperature when the alarm occurs.

The motor is not high. Investigate item 5. The connector is disconnected (or loose).

Correctly install. 5 Wiggle the connectors by hand to check whether the detector connectors (unit side and motor side cannon) are disconnected.



The alarm is on the unit side. Replace the drive unit. 7 Connect to another normal axis unit, and check whether the fault is on the unit side.

The alarm occurs even when the unit is replaced.

Investigate item 8.

No abnormality is found in particular. Replace the motor. 8 Check if there is any abnormality in the unit's ambient environment. (Ex. Ambient temperature, noise, grounding)



CAUTION



11–19


Alarm No. 48

Scale CPU error: The CPU of the absolute position linear scale connected to the MAIN side is not operating correctly.






The alarm is on the unit side. Replace the drive unit. 3 Connect to another normal axis unit, and check whether the fault is on the unit side or scale side.


Investigate item 4.





Alarm No. 49

Scale overspeed: The absolute position liner scale connected to the MAIN side detected a speed of 45m/sec or more when the CNC power was turned ON.


The system is not the absolute position linear scale specifications.

Correctly set the SV025: MTYP parameter.

1 Check that the system is an absolute position linear scale specification system. The system is the absolute position

linear scale specifications. Investigate item 2.

The machine was operating. Check the motor's mechanical brakes and machine system.

2 Check whether the machine was operating when the alarm occurred.

The machine was not operating. Investigate item 3. The connector is disconnected (or loose).






Investigate item 6.





11–20


Alarm No. 4A

Absolute position detection circuit error: An error was detected in the scale or scale side circuit of the absolute position linear scale connected to the MAIN side.




Alarm No. 4B

Incremental position detection circuit error: A speed exceeding the max. movement speed of the absolute position linear scale connected to the MAIN side was detected.











Investigate item 6.

No abnormality is found in particular. Replace the motor (the absolute position linear scale).




CAUTION



11–21


Alarm No. 50

Overload 1: The servomotor or servo driver load level obtained from the motor current reached the overload level set with the overload detection level (SV022:OLL).


The value differs from the standard setting value.

When not using special specifications, set the value to the standard setting value.

1 Check the servo parameter (OLL) setting value. Standard setting value OLL: 150. The value is the standard setting value. Investigate item 2.

The motor is hot. Ease the operation pattern. ↓ If the problem is not solved, check investigation item 3.

2 Check the motor temperature when the alarm occurs.

The motor is not high. Investigate item 3. The motor is hunting. Refer to the adjustment procedures and

readjust. • Check the cable wiring and connector

connection. • Check for incorrect parameter settings. • Adjust the gain. ↓ If the problem is not resolved, check investigation item 4.

3 Check whether the motor is hunting.

The motor is not hunting. Investigate item 4. The alarm is on the unit side. Replace the drive unit. 4 Connect to another normal axis unit,

and check whether the fault is on the unit side.


Investigate item 5.

An abnormal value is displayed. Check the machine system. 5 Check whether the current value on the CNC Servo Monitor screen is an abnormally large value when stopped and operating.

A correct value is displayed. Investigate item 6.

No abnormality is found in particular. Replace the motor (the detector). 6 Check if there is any abnormality in the unit's ambient environment. (Ex. Ambient temperature, noise, grounding)




Alarm No. 51

Overload 2: A current command exceeding 95% of the driver's max. capacity continued for 1 sec. or more.


The voltage is being supplied. Investigate item 3. 1 Check whether the PN power is supplied to the driver. • Check the axis for which the alarm is

occurring and the axis farthest from the power supply.

The voltage is not being supplied. Investigate item 2.

There is no voltage at the PN terminal. (The lamp is not lit.)

Check the power supply unit. 2 Check whether the power supply unit's CHARGE lamp is lit, and the PN terminal voltage. There is voltage at the PN terminal. Check the PN wiring between the units.

The max. value is exceeding the x level given on the previous page.

Increase the acceleration/deceleration time constant to lower to approx. 80% of the limit value.

3 Check whether the current value on the CNC Servo Monitor screen is an abnormally large value during acceleration/deceleration. A correct value is displayed. Investigate item 4.



11–22


Alarm No. 52

Excessive error 1: The difference of the ideal position and actual position exceeded the parameter SV023:OD1 (or SV053:OD3) at servo ON.









3 Check the servo parameter (OD1) setting value.

The value is the standard setting value. Investigate item 4. 4 Check items 3 and following for alarm

No. "50".

Supplement

Depending on the ideal machine position in respect to the command position, the actual machine position could enter the actual shaded section shown below, which is separated more than the distance set in OD1.

CAUTION


Ideal machine position

Servo OFF

Command position

Servo ON Time

OD1

OD1

OD2

OD2

Position


11–23


Alarm No. 53

Excessive error 2: The difference of the ideal position and actual position exceeded parameter SV026:OD2 at servo OFF.




1 Check the servo parameter (OD2) setting value.

The value is the standard setting value. Investigate item 2. The machine was operating. Check the machine and mechanical

brakes. 2 Check whether the machine is moving

during servo OFF. The machine was not operating. Investigate item 3. The connector is disconnected (or loose).

Correctly install. 3 Wiggle the communication cable between the CNC and final connector by hand to check whether the detector connectors (unit side and CNC side) are disconnected.


There is a connection fault. Replace the communication cable. 4 Turn the power OFF, and check the communication cable connection with a tester. Try replacing with normal cables.


The alarm is on the unit side. Replace the drive unit. 5 Replace with another normal axis unit, and check whether the fault is in the unit.


Replace the MCP card on the CNC side. ↓ If the problem is not resolved, check investigation item 6.


Correctly install. 6 Wiggle the connectors by hand to check whether the detector connectors (unit side and motor side) are disconnected. The connector is not disconnected. Investigate item 7.


No abnormality is found in particular. Replace the motor. 8 Check if there is any abnormality in the unit's ambient environment. (Ex. Ambient temperature, noise, grounding)




Alarm No. 54

Excessive error 3: The motor current is not flowing when the excessive error alarm 1 was detected.







The power line is not connected or is disconnected.

Increase the acceleration/deceleration time constant to lower to approx. 80% of the limit value.

3 Check whether the motor power line is connected to the motor. • Disconnect the power line from the

terminal block, and check between UVW with a tester.

The power line is correctly connected. Investigate item 4.

The alarm is on the unit side. Replace the drive unit. 4 Replace with another normal unit, and check whether the fault is in the unit. The alarm is on the motor side. Replace the motor.


11–24


Alarm No. 58

Collision detection 0: A collision detection method 1 error was detected during the G0 modal (rapid traverse). (A disturbance torque exceeding the tolerable disturbance torque was detected.)


The collision detection function is not being used.

Investigate item 2.

The motor is colliding. Improve so that the machine does not collide.

1 Check whether the collision detection function is being used. Check whether the machine is colliding.

The collision detection is being used, but the machine is not colliding.

Investigate item 3.

2 Check the parameter. Is SV060 (TLTM) set to "0"?

The setting is incorrect. Set SV060 (TLMT) to "0".

The current is 90% or more of the current limit value.

Lengthen the time constant, and check investigation item 4.

3 Check whether the current during normal rapid traverse acceleration/ deceleration has reached the current limit value, or whether it is 90% or more of the limit value.

The current is less than 90% of the current limit value.

Investigate item 4.

The alarm does not occur. 4 Readjust the collision detection function, and then operate. (Refer to the separate collision detection function specifications.)

The alarm occurs. Investigate item 5.

They are vibrating. Eliminate the vibration by adjusting the gain, and check investigation item 4.

5 Is the machine or current vibrating?

They are not vibrating. Investigate item 6. The alarm does not occur. If the problem is not resolved even after

replacing the drive unit, raise the level. 6 Raise the detection level.

The alarm occurs. Replace the drive unit.

CAUTION

To prevent trouble, when changing the motor and driver combination, avoid driving a driver with a larger capacity than the specified driver using the motor. The motor could be demagnetized. Note that this combination can be used for checking in the emergency stop state. A driver with a capacity smaller than the specifications can be driven with the motor.


11–25


Alarm No. 59

Collision detection 1: A collision detection method 1 error was detected during the G1 modal (cutting feed). (A disturbance torque exceeding the tolerable disturbance torque was detected.)


The collision detection function is not being used.

Investigate item 2.

The motor is colliding. Improve so that the machine does not collide.

1 Check whether the collision detection function is being used. Check whether the machine is colliding.

The collision detection is being used, but the machine is not colliding.

Investigate item 2.

2 Check the parameter. Is SV060 (TLTM) set to "0"?

The setting is incorrect. Set SV060 (TLMT) to "0".

The current is 90% or more of the current limit value.

Lengthen the time constant, and check investigation item 4.

3 Check whether the current during normal rapid traverse acceleration/ deceleration has reached the current limit value, or whether it is 90% or more of the limit value.

The current is less than 90% of the current limit value.

Investigate item 4.

The alarm does not occur. 4 Readjust the collision detection function, and then operate. (Refer to the separate collision detection function specifications.)

The alarm occurs. Investigate item 5.

They are vibrating. Eliminate the vibration by adjusting the gain, and check investigation item 4.

5 Is the machine or current vibrating?

They are not vibrating. Investigate item 6. The alarm does not occur. If the problem is not resolved even after

replacing the drive unit, raise the level. 6 Raise the detection level.

The alarm occurs. Replace the drive unit.


Alarm No. 5A

Collision detection 2: A collision detection method 2 error was detected.




Alarm No. 60 to 7F

Power supply alarm: An alarm has occurred in the power supply unit.


1 MDS-A/B-CV Refer to the power supply unit specifications.


11–26


Alarm No. 80

HR unit connection error: An incorrect connection or cable breakage was detected in the MDS-B-HR connected to the MAIN side.



Correctly install. 1 Wiggle the connectors by hand to check whether the MDS-B-HR connectors (unit side, HR side and linear scale side) are disconnected.


There is a connection fault. Replace the communication cable. 2 Turn the power OFF, and check the connection of the detector cables (between driver I/F units and between I/F unit and scale) with a tester.


The alarm is on the unit side. Replace the drive unit. 3 Connect with another normal axis unit (or MDS-B-HR) and check whether the fault is on the unit side or MDS-B-HR (linear scale) side.

The alarm is on the MDS-B-HR (linear scale) side.

Investigate item 4.

No abnormality is found in particular. Replace MDS-B-HR (linear scale). 4 Check if there is any abnormality in the unit's ambient environment. (Ex. Ambient temperature, noise, grounding)




Alarm No. 81

HR unit HSS communication error: The MDS-B-HR connected to the MAIN side detected an error in the communication with the absolute position linear scale.



CAUTION



11–27


Alarm No. 83

HR unit scale judgment error: The MDS-B-HR connected to the MAIN side could not judge the analog frequency of the connected linear scale.



Correctly install. 1 Wiggle the connectors by hand to check whether the MDS-B-HR connectors (unit side, HR side, linear scale side and MD side) are disconnected.


There is a connection fault. Replace the communication cable. 2 Turn the power OFF, and check the connection of the detector cables (between driver and I/F units, between I/F unit and scale and between I/F unit and pole detector) with a tester.


The alarm is on the unit side. Replace the drive unit. 3 Connect with another normal axis unit (or MDS-B-HR) and check whether the fault is on the unit side or MDS-B-HR (linear scale or MDS-B-MD) side.

The alarm is on the MDS-B-HR (linear scale or MDS-B-MD) side.

Investigate item 4.

No abnormality is found in particular. Replace MDS-B-HR (linear scale or MDS-B-MD).





Alarm No. 84

HR unit CPU error: The CPU of the MDS-B-HR connected to the MAIN side is not operating correctly.



Correctly install. 1 Wiggle the connectors by hand to check whether the MDS-B-HR connectors (unit side and HR side) are disconnected. The connector is not disconnected. Investigate item 2.

There is a connection fault. Replace the communication cable. 2 Turn the power OFF, and check the connection of the detector cables (between driver and I/F units) with a tester.


The alarm is on the unit side. Replace the drive unit. 3 Connect with another normal axis unit and check whether the fault is on the unit side or MDS-B-HR side.

The alarm is on the MDS-B-HR side. Investigate item 4.

No abnormality is found in particular. Replace MDS-B-HR. 4 Check if there is any abnormality in the unit's ambient environment. (Ex. Ambient temperature, noise, grounding)




Alarm No. 85

HR unit data error: An error was detected in the analog interpolation data of the MDS-B-HR connected to the MAIN side.




11–28


Alarm No. 86

HR unit pole error: An error was detected in the pole data of the MDS-B-HR connected to the MAIN side.



Correctly install. 1 Wiggle the connectors by hand to check whether the MDS-B-HR connectors (unit side, HR side and MD side) are disconnected.


There is a connection fault. Replace the communication cable. 2 Turn the power OFF, and check the connection of the detector cables (between driver and I/F units and between I/F unit and pole detector) with a tester.


The alarm is on the unit side. Replace the drive unit. 3 Connect with another normal axis unit (or MDS-B-HR) and check whether the fault is on the unit side or MDS-B-HR (MDS-B-MD) side.

The alarm is on the MDS-B-HR (MDS-B-MD) side.

Investigate item 4.

No abnormality is found in particular. Replace MDS-B-HR (MDS-B-MD). 4 Check if there is any abnormality in the unit's ambient environment. (Ex. Ambient temperature, noise, grounding)




Alarm No. 88

Watch dog: The servo drive software processing time did not end within the specified time.

Investigation details Investigation results Remedies

The version was changed. Replace with the original software version. 1 Check whether the servo software version has been changed recently. The version was not changed. Investigate item 2.





Alarm No. 89

HR unit connection error (SUB): An incorrect connection or cable breakage was detected in the MDS-B-HR connected to the SUB side.



CAUTION



11–29


Alarm No. 8A

HR unit HSS communication error (SUB): The MDS-B-HR connected to the SUB side detected an error in the communication with the absolute position linear scale.




Alarm No. 8C

HR unit scale judgment error (SUB): The MDS-B-HR connected to the SUB side could not judge the analog frequency of the connected linear scale.




Alarm No. 8D

HR unit CPU error (SUB): The CPU of the MDS-B-HR connected to the SUB side is not operating correctly.




Alarm No. 8E

HR unit data error (SUB): An error was detected in the analog interpolation data of the MDS-B-HR connected to the SUB side.




Alarm No. 8F

HR unit pole error (SUB): An error was detected in the pole data of the MDS-B-HR connected to the SUB side.




11–30


Alarm No. 93

Absolute position fluctuation: A fluctuation exceeding the tolerable value was detected in the absolute position detected when the CNC power is turned ON.



Correctly install. 1 Wiggle the connectors by hand to check whether the detector connectors (unit side and detector side) are disconnected.


There is a connection fault. Replace the communication cable. 2 Turn the power OFF, and check the connection of the detector cables with a tester.


The alarm is not repeated. If no abnormality is found with investigation item 5, continue use.

3 Check the repeatability. Carry out zero point return again.

The alarm is always repeated. Or, the state returns to normal once, but then is repeated sometimes.

Investigate item 4.

The alarm is on the unit side. Replace the drive unit. 4 Connect with another normal axis unit and check whether the fault is on the unit side.


Investigate item 5.

No abnormality is found in particular. Replace the motor (detector). 5 Check if there is any abnormality in the unit's ambient environment. (Ex. Ambient temperature, noise, grounding)



CAUTION



11–31


Alarm No. 9B

Pole shift warning: An error was detected in the pole shift amount set in servo parameter SV028.


The system is not MDS-B-MD. Investigate item 4. 1 Check whether the MDS-B-MD system is being used. The system is MDS-B-MD. Investigate item 2.

Movement is possible several times without a warning.

Investigate item 4. 2 Check whether the warning occurred at the first movement after setting the servo parameter (SV028). The warning occurred at the first

movement. Investigate item 3.

The SV028 setting value is the same with the previous and current DC excitation.

Investigate item 4. 3 Carry out DC excitation again, and check the servo parameter (SV028) setting value.

The SV028 setting value is different with the previous and current DC excitation.

Set SV028 to the current DC excitation value. ↓ If the problem is not resolved, check investigation item 4.


Correctly install. 4 Wiggle the connectors by hand to check whether the MDS-B-HR connectors (unit side, HR side and MD side) are disconnected.


There is a connection fault. Replace the communication cable. 5 Turn the power OFF, and check the connection of the detector cables (between driver I/F units and between I/F unit and pole detector) with a tester.


The alarm is on the unit side. Replace the drive unit. 6 Connect with another normal axis unit (or MDS-B-HR) and check whether the fault is on the unit side or MDS-B-HR (MDS-B-MD) side.

The alarm is on the MDS-B-HR (MDS-B-MD) side.

Investigate item 7.

No abnormality is found in particular. Replace MDS-B-HR (linear scale or MDS-B-MD).





Alarm No. 9C

HR unit pole warning: An error was detected in the pole position data of the MDS-B-HR connected to the MAIN side after passing the Z phase.




Alarm No. 9D

HR unit pole warning (SUB): An error was detected in the pole position data of the MDS-B-HR connected to the SUB side after passing the Z phase.




11–32


Alarm No. E1

Overload warning: An level 80% of the overload alarm 1 was detected.


The motor is not hot. Check the alarm No. "50" items. 1 Check whether the motor is hot. The motor is hot. Investigate item 2. Operation is possible without problem. 1. If possible, ease the operation pattern.

2. If an alarm does not occur with continued operation, continue in this state.

2 Check whether there is a problem during acceleration/deceleration operation.

There is a problem in the operation. Check investigation items 3 and following of alarm No. "50".


Alarm No. E4

Parameter error warning: A parameter exceeding the setting range was set.


1 Set the correct values following the parameter adjustment procedures.


Alarm No. E7

CNC emergency stop: An emergency stop signal is being sent from the CNC, or an alarm is occurring in another axis.


The emergency stop state is entered. Investigate item 2. 1 Check whether the CNC side emergency stop switch has been applied.

Emergency stop has been canceled. Investigate item 3.

Operation starts normally. Normal 2 Cancel the emergency stop. "E7" remains displayed. Investigate item 3. Pinpoint the cause of the fault. Correct the fault. 3 Check whether the terminator or battery

unit is connected, or whether these are loose.

Normal Check the alarm No. "34" items.

CAUTION

To prevent trouble, when changing the motor and driver combination, avoid driving a driver with a larger capacity than the specified driver using the motor. The motor could be demagnetized. Note that this combination can be used for checking in the emergency stop state. A driver with a capacity smaller than the specifications can be driven with the motor.

Documents

Linear Servo System - Mitsubishi Electricen… · BNP-B3977A (ENG) MDS-B Series Linear Servo System Specifications and Instruction Manual